Abstract
This paper presents an alternative method for the inverse kinematics problem in serial-chain redundant robots. Such method is based on a recursive algorithm that solves inverse kinematics by allowing only one joint to move at a time, in a simulated stage. This transforms the n-dimensional problem in simpler unidimensional ones, whose analytical solution for each joint is presented using the Denavit-Hartenberg representation. Matlab simulations are performed in order to show the method's efficiency. The proposed method easily handles limitations of joint positions and velocities and can efficiently be applied in real time.
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