Institut für
Robotik und Prozessinformatik

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Symbolic Computation of Inverse Kinematics


Project completed.

Description of project

During the last years fundamental problems in the field of the inverse kinematics (IK) of serial link robots have been investigated within a research project funded by the German Research Foundation DFG. We have developed methods to automatically generate the inverse kinematic equations of many classes of serial link robots. An appropriate computer program SKIP (Symbolic Kinematics Inversion Program) has been implemented and evaluated by hundreds of serial kinematics. SKIP computes the closed form solution for a given kinematic by using a set of prototype equations with known a priori solutions. The costs for the inversion are reduced drastically by a careful equation analysis leading to powerful equation features. The figure below gives an overview about the computational flow and the data flow in SKIP.

hri_skip.gif

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