GENERALIZED INVERSE KINEMATIC FUNCTIONS FOR THE PUMA MANIPULATORS

This paper presents a neu approach for the computation of generalized positioning inverse kinematic functions for Puma manipulators. This ne w approach leads to real solutions of the joint variables for any set of Cartesian coordinates located inside or outside the robot's workspa ce. Therefore, the inverse kinematic functions derived are termed ''ge neralized inverse kinematic functions''. These solutions, which produc e the minimum distance between the end effector and a Cartesian point to be reached, are particularly useful in tracking operations. Because of the special architecture of the Puma, closed-form solutions are ob tained. This feeds to simple algorithms and allows for the computation of all solutions.