Abstract
A compact simplified kinematic synthesis procedure is presented to carry out the inverse velocity and acceleration analysis of a general serial robot's manipulator arms. The method uses tensor notation and some important mathematical reductions and manipulations to reveal simple recurrence formulas which are useful to solve the inverse problem. The procedure saves the computing time to a great extent in comparison with the other techniques available, such as the inverse Jacobian method. In this analysis the inverse kinematic quantities expressing the joint motors velocities and accelerations are related to the absolute velocities and accelerations of the end-effector using a set of linear algebraic equations. Therefore, the solution of this set of linear algebraic equations leads to a direct and unique solution for any non-redundant robot's manipulators. For the purpose of illustration, three numerical example problems describing three and six degrees of freedom serial robot's manipulator arms are considered.
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