Abstract
Abstract In this paper we deal with the inverse kinematic problems. The first contribution of the paper is the definition, in a formal framework, of some problems related to the inverse kinematics, which are already present in the literature. The second and the main contribution consists in the solution of such problems by means of state observers, designed with respect to a time-varying nonlinear system associated with the given direct kinematics and reference trajectory. The paper is completed with applications to two-link and three-link robot arms, for which some simulation tests have been carried out, showing the accuracy of the proposed method.
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