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Research Article | Open Access |

Analytical Study of Algorithms for Solving Inverse Kinematic Problems in Robot Motion Control

Author 1: Dr. Osama Ahmad Salim Safarini
International Journal of Advanced Computer Science and Applications (IJACSA) · Vol. 9, No. 4 · Published 2018

DOI: https://doi.org/10.14569/IJACSA.2018.090410

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Abstract

The given article covers the general formulations of inverse kinematic problems for robot motion control systems. We have discussed the difficulties how to solve such problems using analytical and numerical methods. We have also analyzed the convergence of iterative algorithms with the regularization on the trajectory with the points outside of the gripper reachability. The example of an iterative calculation of joint trajectories for a 3-link robot using the recursive algorithm for the Jacobi matrix calculation has been presented.

Keywords

Robot motion control systems inverse kinematic problems iterative methods algorithm convergence regularization

How to Cite this Article

Safarini, D. O. A. S. (2018). Analytical Study of Algorithms for Solving Inverse Kinematic Problems in Robot Motion Control. International Journal of Advanced Computer Science and Applications, 9(4). https://doi.org/10.14569/IJACSA.2018.090410

Safarini, Dr. Osama Ahmad Salim. "Analytical Study of Algorithms for Solving Inverse Kinematic Problems in Robot Motion Control." International Journal of Advanced Computer Science and Applications, vol. 9, no. 4, 2018, https://doi.org/10.14569/IJACSA.2018.090410.

@article{Safarini2018,
  title     = {Analytical Study of Algorithms for Solving Inverse Kinematic Problems in Robot Motion Control},
  journal   = {International Journal of Advanced Computer Science and Applications},
  volume    = {9},
  number    = {4},
  year      = {2018},
  publisher = {The Science and Information Organization},
  author    = {Dr. Osama Ahmad Salim Safarini},
  doi       = {10.14569/IJACSA.2018.090410},
  url       = {https://doi.org/10.14569/IJACSA.2018.090410}
}

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