A Heuristic Approach to the Inverse Differential Kinematics Problem

Authors:
Uwe Beyer;Frank Śmieja
Affiliations:
German National Research Center for Computer Science (GMD), Schloß Birlinghoven, 53754 Sankt Augustin, Germany;German National Research Center for Computer Science (GMD), Schloβ Birlinghoven, 53754 Sankt Augustin, Germany
Venue:
Journal of Intelligent and Robotic Systems
Year:
1997

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Abstract

Inversion of the kinematics of manipulators is one of the central problems in the field of robot arm control. The iterative use of inverse differential kinematics is a popular method of solving this task. Normally the solution of the problem requires a complex mathematical apparatus. It involves methods for solving equation systems as well as algorithms for optimization. In this paper we introduce a naïve heuristic method which works without the need for complex mathematical algorithms. This method forms a simple basis for the more sophisticated control procedures of our robot manipulator (JANUS).