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A new method to solve robot inverse kinematics using Assur virtual chains
H. Simas, R. Guenther, D. F. M. da Cruz, D. Martins
Journal:

Robotica / Volume 27 / Issue 7 / December 2009

Published online by Cambridge University Press:

06 March 2009, pp. 1017-1026
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This paper describes a numerical algorithm to solve the inverse kinematics of parallel robots based on numerical integration. Inverse kinematics algorithms based on numerical integration involve the drift phenomena of the solution; as a consequence, errors are generated when the end-effector location differs from that desired. The proposed algorithm associates a novel method to describe the differential kinematics with a simple numerical integration method. The methodology is presented in this paper and its exponential stability is proved. A numerical example and a real application are presented to outline its advantages.