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JRM Vol.24 No.2 pp. 363-371
doi: 10.20965/jrm.2012.p0363
(2012)

Paper:

Numerical Solution Using Nonlinear Least-Squares Method for Inverse Kinematics Calculation of Redundant Manipulators

Shunsuke Toritani, Ruhizan Liza Ahmad Shauri,
Kenzo Nonami, and Daigo Fujiwara

Department of Mechanical Engineering, Division of Artificial Systems Science, Graduate School of Engineering, Chiba University, 1-33 Yayoi-cho, Inage-ku, Chiba-shi, Chiba 263-8522, Japan

Received:
October 22, 2011
Accepted:
January 31, 2012
Published:
April 20, 2012
Keywords:
inverse kinematics, numerical robustness, nonlinear least-squares method, Levenberg-Marquardt method, redundant manipulator
Abstract

In this paper, we present an Inverse Kinematics (IK) algorithm based on the nonlinear least-squares method for redundant manipulators. The Newton-Raphson (NR) method is a commonmethod for IK calculation of redundant manipulators. The NR method, however, causes many problems in terms of joint angle limits, singularity, and solvability. Severalmethods have therefore been proposed to solve these problems. Most, however, focus only on IK calculation performance when a desired trajectory moves outside of the workspace. A manipulator is required to move continuously, even after a desired trajectory moves outside of the workspace. It is thus also necessary to implement the IK calculation method for bringing a desired trajectory back into the workspace. In this study, we propose a user-friendly method for robotic manipulation that is capable of implementing accurate IK calculation when a desired trajectorymust be returned to the workspace.

Cite this article as:
Shunsuke Toritani, Ruhizan Liza Ahmad Shauri,
Kenzo Nonami, and Daigo Fujiwara, “Numerical Solution Using Nonlinear Least-Squares Method for Inverse Kinematics Calculation of Redundant Manipulators,” J. Robot. Mechatron., Vol.24, No.2, pp. 363-371, 2012.
Data files:
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