The inverse kinematics of n-serial robotic chain in different quadrants of working space

Abstract eng:
Inverse kinematics of mechanic system is area of solution at many universities and scientific research institutions. This paper dealt with of solution problem of inverse kinematic by cyclic coordinate descent method (CCD). This method allows use n-link chain mechanism without complicated changing of control algorithm. The article is focuses on the issue of setting the number of elements of mechanism. Also presents a modified method the incremental CCD, which is compared with this method. From the perspective of number of cycles required to achieve the desired position with increasing number of links and from the perspective of changing quadrant of working space.

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