Inverse kinematics problem for multi-degrees-of-freedom manipulator based on robust control

Abstract

This paper describes several control strategies to simplify inverse kinematics problem in multidegrees-of-freedom manipulator based on robust control. To construct motion controller of the manipulator, both joint space and operational space are available. In general, it is easy for manipulator user to recognize the motion of the manipulator in operational space. So the operational space is selected to synthesize the motion reference to the manipulator. In this case, the motion reference should be transformed into the joint space where the actuator exists. In this paper, we explain the simplification methods of the transformation from the operational space to the joint space, that is, the inverse kinematics problem by using the robust control. Several experimental results are shown to confirm the validity of the proposed methods. >