Generalized inverse kinematic functions for the Puma manipulators

This paper presents a new approach for the computation of generalized positioning inverse kinematic functions for Puma manipulators. This new approach leads to real solutions of the joint variables for any set of Cartesian coordinates located inside or outside the robot´s workspace. Therefore, the inverse kinematic functions derived are termed “generalized inverse kinematic functions”. These solutions, which produce the minimum distance between the end effector and a Cartesian point to be reached, are particularly useful in tracking operations. Because of the special architecture of the Puma, closed-form solutions are obtained. This leads to simple algorithms and allows for the computation of all solutions