Iterative Method for Solving the Inverse Kinematics Problem of Multi-link Robotic Systems with Rotational Joints

Abstract

Creation of methods solving the inverse kinematics problem for an arbitrary robotic system (RS) and development of software implementation of which could be used without significant changes and a loss of quality in various systems is an actual task for much robotic research. In this paper, we propose an iterative inverse kinematic solution method with a novel representation concept for a robotic multi-link system from the standpoint of kinematics. The global coordinates are used for each single joint positioning together with the coordinate system that is responsible for the orientation. The main part of the work is devoted to the developed method and algorithms for solving the inverse kinematics problem, which are suitable for robotic systems with joints that are incapable of full spatial motion. The developed solution of inverse kinematic takes into account the features of the proposed concept of robotic systems representation and is based on the modernization of the heuristic algorithm Forward and Backward Reaching Inverse Kinematics (FABRIK).