DISTRIBUTED METHOD FOR INVERSE KINEMATICS OF ALL SERIAL MANIPULATORS

This paper deals with a new numerical method to solve the inverse kine matics of all serial, special or general, manipulators. This method us es a new concept from Distributed Artificial Intelligence, multi-agent systems, which allows to distribute the resolution of this problem. T his concept is used with a new formulation of the problem associated t o each Local frame. This iterative and distributed algorithm is able t o find all solutions of the inverse kinematics for all kinds of manipu lators (6R, 5R1P, 4R2P, 3R3P). Moreover, we will show that this method can be applied to redundant manipulators. (C) 1997 Elsevier Science L td.