Scholarlink

This paper presents a novel method for solving the inverse kinematics of complex compound joints in robotics, utilizing feature parameters. The proposed method constructs a feature matrix containing 12 variable parameters, each represented by higher-order trigonometric functions. A third-order polynomial fitting technique is then applied to approximate these parameters, followed by the construction of a non-linear equation system based on the Jacobian matrix. The Newton iterative method is employed to solve this system, converging to an accurate solution. This method is characterized by high efficiency, precision, and broad applicability, making it suitable for the kinematic analysis and control of multi-degree-of-freedom robotic joints.

错误：搜索内容不能为空，请输入英文关键词
错误：关键词超出字数限制，请精简
高级检索

A Method for Inverse Kinematics Solution Based on Feature Parameters

  • 会议论文

  • 发表日期：

    2026年

查看全文
  • Longfei Jia,
  • Junning Zhang,
  • Pengfei Li,
  • Yaxing Guo,
  • Yifan Ma,
  • Meishan Guo

摘要

This paper presents a novel method for solving the inverse kinematics of complex compound joints in robotics, utilizing feature parameters. The proposed method constructs a feature matrix containing 12 variable parameters, each represented by higher-order trigonometric functions. A third-order polynomial fitting technique is then applied to approximate these parameters, followed by the construction of a non-linear equation system based on the Jacobian matrix. The Newton iterative method is employed to solve this system, converging to an accurate solution. This method is characterized by high efficiency, precision, and broad applicability, making it suitable for the kinematic analysis and control of multi-degree-of-freedom robotic joints.