INVERSE KINEMATIC SOLUTION OF ROBOT MANIPULATORS USING INTERVAL-ANALYSIS

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