Manipulator Kinematics Algorithm Design

The analysis of inverse kinematics solution plays a fundamental role in the system control of manipulators. This paper uses the Devavit-Hartenberg method to model the 4 by 4 closed-form matrix equation of general manipulators. A model of joint cell is proposed to simplify the description of manipulators. Algorithms based on algebra, geometry and numeral are designed independently for a 6R manipulator to solve the inverse kinematics. Discuss the error of the algorithms when the angles of joint variable shouldn't be changed continuous, but discrete. And the expression of the maximal theoretic error is deduced as well. To improve the precision of inverse solution, we combine the algorithms to obtain the new one named mixed-algebra (mAA) and another one named mixed-algebra-numeral (mAN).