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.

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