High speed numerical calculation method for on-line inverse kinematics of robot manipulators

A long 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 are proposed. The calculation time is drastically decreased, by replacing some elements of the Jacobian matrix with zeroes. The Monte Carlo method has been used to verify the advantage of the proposed SMJM method for the 6 link nonredundant manipulator and the 4 link redundant manipulator.