Performance analysis of FIK and DLS inverse kinematics using six degree of freedom manipulator

A control infrastructure for comparison of feedback inverse kinematics (FIK) with pseudo-inverse based methods is developed in this paper. The Kinematic model of Mitsubishi RV-1A, a six degree of freedom (DOF) robotic manipulator is constructed to map the Cartesian space trajectories into the joint space trajectories. The Denavit-Hartenberg (DH) parameters of this manipulator are calculated by using conventional DH parameterization approach. Cartesian space reference trajectories with and without singularity are designed for RV-1A to analyze the performance of FIK and compare it with damped least square (DLS) inverse kinematics. The performance of developed FIK and DLS models is evaluated based on stability and singularity robustness.