Solution of The Inverse Kinematic Task of A Robot-Arm Based on A Quasi-Differential Fixed-Point Transformation Method

Abstract

While the forward kinematic task of robots can be solved easily through homogenous transformation matrices, the inverse kinematic task leads to difficulties as the construction of the system becomes more complex. In this paper, a solution has been worked out for a three Degree-of-Freedom (DOF) robot-arm based on recent research, by the use of a novel, fixed-point transformation based technique.