The high-speed numerical calculation method for the on-line inverse kinematics of redundant degree of freedom manipulators

A long calculation time is required to solve the inverse kinematics problem by the numerical iterative method (i.e. Newton-Raphson method) if the dimension of the Jacobian matrix becomes large. In this paper a new high speed numerical calculation method (SMJM method: simply modified Jacobian matrix method) to calculate the inverse kinematics of nonredundant manipulators and redundant manipulators is proposed. The calculation time is drastically decreased, by replacing some elements of the Jacobian matrix with zeroes. The Monte Carlo method had been used to verify the advantage of the proposed SMJM method for the 4 link redundant manipulator and the 6 link nonredundant manipulator.