Inverse kinematics of curved surface robots and solution by numerical simulation

Abstract

In this paper, we will discuss the inverse kinematics problem of curved surface robots. In this problem, the shape of a point, a curve or a partial area is given as constraint conditions. We need to formulate the inverse kinematics problem based on these. We will present this formulation and show numerical simulation results on the simplest inverse kinematics problem when the overall shape of the curved surface is given as a constraint condition in this paper.