Solving the inverse kinematics problem symbolically by means of knowledge-based and linear algebra-based methods

• Published in: 2007 IEEE Conference on Emerging Technologies and Factory Automation (EFTA 2007) pp. 1346 - 1353
• Main Authors: Wenz, M., Worn, H.
• Format: Conference Proceeding
• Language: English
• Published: IEEE 01.09.2007
• Subjects: Closed-form solution; Computational geometry; Computer industry; Construction industry; Equations; Kinematics; Manipulators; Polynomials; Robot control; Robot programming
• DOI: 10.1109/EFTA.2007.4416937
• ISBN: 9781424408252; 1424408253
• ISSN: 1946-0740

The construction of kinematics models by hand is often a tedious and error-prone process. This paper presents an overview of the Organic Robot Control project. One main goal of the project is to automate the computation of closed-formed solutions for both the forward and inverse kinematics of general industrial manipulators. For simple manipulator geometries, we use rule-based programming techniques to obtain a closed-form solution. For complicated geometries, we use elimination techniques based on the computation of Groebner basis. In so doing we convert a complicated coupled transcendental set of kinematics equations into a univariate polynomial. This polynomial can much easier be solved. The generated analytic models fulfill real time requirements and can be parallelized very well.