An Optimization Approach to solve the Inverse Kinematics of Redundant Manipulator

Abstract

In this paper, we propose an optimization based approach to solve inverse kinematics problem by converting it into a nonlinear optimization problem. An improved energy function is defined to solve the optimization problem even in the case when the matrix associated with objective function is not positive definite. The stability analysis has been done for the proposed algorithm using Lyapunov method. The result has been illustrated through simulation of inverse kinematics solution for a seven arm redundant manipulator