An iteration method for inverse kinematics of redundancy robot

A generalized iteration method for the inverse kinematics of the redundancy robot is proposed in this paper. As compared to the traditional method, it can improve time complexity dramatically for the inverse kinematics of redundancy robot and the solution procedure of the inverse kinematics is also simplified simultaneously. The experiment results show that this method can be used to solve the non-uniqueness problem of the solution which exists in the inverse kinematics of redundancy robot. Moreover, this method is an attractive strategy for the inverse kinematics in industrial redundancy robot which performs repetitive tasks because of the limit of computing power and memory space for their controllers.