A FAST PROCEDURE FOR MANIPULATOR INVERSE KINEMATICS COMPUTATION AND SINGULARITIES PREVENTION

In this article, a fast procedure for numerical manipulator inverse kinematics computation and singularities prevention is presented. The approach is based upon solving a linear system and automatically calculating some parameters. These parameters are properly used in either one of two original schemes that are also proposed to induce robustness to the pseudoinverse. Furthermore, here it is also shown how to properly implement one of these schemes in conjunction with a recently developed approach for the singularities prevention of redundant manipulators. The resultant algorithms are tested on the simulation of a planar redundant manipulator. From the results obtained, it is observed that the proposed approach compares favorably with the approaches using a Gaussian elimination procedure and with pseudoinverse robustness based on a manipulability measure.