Recursive Algorithm for the Inverse Kinematics of Redundant Robotic Manipulators
Abstract
This paper presents an alternative method for the inversekinematics problem in serial-chain redundant robots. Such methodis based on a recursive algorithm that solves inverse kinematicsby allowing only one joint to move at a time, in a simulatedstage. This transforms the n-dimensional problem in simplerunidimensional ones, whose analytical solution for each joint ispresented using the Denavit-Hartenberg representation. Matlabsimulations are performed in order to show the method'sefficiency. The proposed method easily handles limitations ofjoint positions and velocities and can efficiently be applied inreal time.
