Inverse Kinematic Solution of Robot Manipulators Using Interval Analysis

[+] Author and Article Information
R. S. Rao, S. K. Agrawal

Mechanical Systems Laboratory, Department of Mechanical Engineering, University of Delaware, Newark, DE 19716

A. Asaithambi

Department of Mathematics and Computer Science, Lincoln University, PA 19352

J. Mech. Des 120(1), 147-150 (Mar 01, 1998) (4 pages) doi:10.1115/1.2826667 History: Received September 01, 1997; Online December 11, 2007


Interval analysis is a growing branch of computational mathematics where operations are carried out on intervals instead of real numbers. This paper presents the first application of this method to robotic mechanisms for the solution of inverse kinematics. As shown in this paper, it is possible to potentially compute all solutions of the inverse kinematics problem using this method. This paper describes the preliminaries of interval analysis, the numerical algorithm, the computational complexity, and illustrations with examples.

Copyright © 1998 by The American Society of Mechanical Engineers
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