Inverse kinematics of spherical wrist robot arms: Analysis and simulation (Q1199135)

This paper addresses the problem of analytically computing inverse kinematics of robot arms. Explicit solutions are limited to simple arms. This paper presents an efficient numerical algorithm for computing the inverse kinematics of a spherical wrist robot arm. The problem is decomposed into two less complex subproblems, the first concerning the robot arm basic structure and the second its hand. The computational efficiency of the proposed technique is demonstrated by simulation of two robot arms, one containing only revolute joints, the other containing both revolute and prismatic joints.