Diana C. W. Friedman, Tim Kowalewski, Radivoje Jovanovic, Jacob Rosen, Blake Hannaford, "Freeing the Serial Mechanism Designer from Inverse Kinematic Solvability Constraints", Applied Bionics and Biomechanics, vol. 7, Article ID 605978, 8 pages, 2010. https://doi.org/10.1080/11762322.2010.503109
Freeing the Serial Mechanism Designer from Inverse Kinematic Solvability Constraints
This paper presents a fast numerical solution for the inverse kinematics of a serial manipulator. The method is implemented on the C-arm, a manipulator designed for use in robotic surgery. The inverse kinematics solution provides all possible solutions for any six degree-of-freedom serial manipulator, assuming that the forward kinematics are known and that it is possible to solve for the remaining joint angles if one joint angle’s value is known. With a fast numerical method and the current levels of computing power, designing a manipulator with closed-form inverse kinematics is no longer necessary. When designing the C-arm, we therefore chose to weigh other factors, such as actuator size and patient safety, more heavily than the ability to find a closed-form inverse kinematics solution.
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