From D-H to inverse kinematics: A fast numerical solution for general robotic manipulators using parallel processing

@article{Farzan2013FromDT,
title={From D-H to inverse kinematics: A fast numerical solution for general robotic manipulators using parallel processing},
author={Siavash Farzan and Guilherme N. DeSouza},
journal={2013 IEEE/RSJ International Conference on Intelligent Robots and Systems},
year={2013},
pages={2507-2513}
}

We propose a robust and fast solution for the inverse kinematic problem of general serial manipulators - i.e. any number and any combination of revolute and prismatic joints. The algorithm only requires the Denavit-Hartenberg (D-H) representation of the robot as input and no training or robot-dependent optimization function is needed. In order to handle singularities and to overcome the possibility of multiple paths in redundant robots, our approach relies on the computation of multiple… CONTINUE READING