Research Article

Solution for Ill-Posed Inverse Kinematics of Robot Arm by Network Inversion

Figure 2

Inverse kinematics problem of 3-DOF robot arm in 2D plane. (a) Three joints and an end-effector coordinate. Ill-posed solutions in terms of (b) existence, (c) uniqueness, and (d) stability.
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(a)
870923.fig.002b
(b)
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(c)
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(d)