Algorithm Analysis for Solving the Inverse Kinematic Problems in Robot Motion Control Systems

System Analysis and Control

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.