A Comparative study of pseudoinverse and damped least squares approaches in inverse kinematics for a 5-DOF hydraulic arm

Abstract

Abstract This paper presents a comparative study of two iterative methods for solving the inverse kinematics problem on a hydraulically actuated 5-DOF arm with non-standard geometries. The work aims to determine the joint angles required to achieve a desired end effector position and orientation, which indicates a specific displacement of the hydraulic actuators. A simulation model is used with the Pseudoinverse and damped least squares methods. The results show that using the model with both methods can be utilized to solve the inverse kinematics problem. The damped Least Squares method exhibits higher accuracy and robustness to singularities than the Pseudoinverse method, however, the Pseudoinverse method is more computationally efficient and can give results close to the damped least squares method but with some modifications. The paper concludes with implications of the findings and recommendations for future research, particularly in the application of these methods to real-world hydraulically actuated robotic systems.