6자유도 매니퓰레이터 역기구학 해를 구하기 위한 새로운 방법

A new method for solving the inverse kinematics for 6 D.O.F. manipulator

In this paper, we present new methods for solving the inverse kinematics associated with 6 degree of freedoms manipulator by the numerical method. This method will be based on tracking stability of special nonlinear dynamical systems, and differs from the typical techniques based by the Newton-Gauss or Newton-Raphson method for solving nonlinear equations. This simulation results show that the new method is solving the inverse kinematics of PUMA 560 without the derivative of a given task space trajectories.