Bioinspired Approach to Inverse Kinematic Problem

Abstract

In robotics, inverse kinematics is mapping the end-effector location and orientation to joint angles. In this paper, the challenge behind finding a solution in inverse kinematics is tackled through minimizing the energy introduced in joints and the energy required by the mechanism as a whole. Studying integrated energies in the joints found in the human arm can give a new approach in understanding and solving inverse kinematics problem constrained by following the optimized path. Results are based on screw motion theorem, introduced by Charles and Mozzi. Moreover, the proposed technique and the results are exposed through simulation of three-link redundant manipulators that resemble human arm.