The method of forming a geometric solution of the inverse kinematics problem for chains with kinematic pairs of rotational type only

Abstract

The goal of the article is to provide researchers with a method that allows to form a geometric solution to the inverse kinematics problem for any kinematic chain containing kinematic pairs of rotational type only by performing a specified sequence of simple steps. The developed method is based on the Denavit-Hartenberg representation and analytic geometry. The input data for the geometric solution of the inverse kinematics problem obtained with its help are the Cartesian coordinates of the chain nodes. The essence of the method is to identify typical modules in the configuration of the kinematic chain and to apply the derived formulas for calculating the generalized coordinates