Review of methods for solving the inverse kinematics problem for an arm with redundancy

Authors: Korovin O.S.
Published in issue: #12(77)/2022
DOI: 10.18698/2541-8009-2022-12-846
Category: Mechanical Engineering and Machine Science | Chapter: Robots, Mechatronics, and Robotic Systems
Keywords: inverse kinematics problem, redundant arm, hinge lock method, pseudo inverse Jacobian matrix method, penalty function method, FABRIK method
Published: 22.12.2022

The article is devoted to the search for the solution of the inverse kinematics problem by means of various methods. The methods described in the article can be divided into two large groups: exact and approximate (numerical) methods. The described in the article methods of "hinge locking", pseudo inverse Jacobian matrix, penalty functions and FABRIK are applied to solve the inverse problem of kinematics for a manipulator with seven degrees of freedom. The paper also presents the basic formulas used for calculations when solving the inverse kinematics problem. It is concluded that all of the considered methods can equally be used in solving the inverse problem of kinematics.

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