Closed-Form Solution of Inverse Kinematics for the Puma Manipulator

  • Marko I. Vuskovic
  • Socorro C. Hunt
Conference paper


A closed-form solution of inverse kinematics for the Unimation PUMA manipulator, which is an improved version of standard algorithms initially proposed by R. Paul, is discussed. Standard algorithms use a polar transformation to solve an equation of the form a cos(x) - b sin(x) =p. Here, the equation is considered as a part of two-dimensional orthogonal transformation. This yields more straightforward and more efficient solution for inverse kinematics. The improvement of the time-efficiency for single solutions is more than 20% and for multiple solutions more than 40%.


Inverse Kinematic Simple Manipulator Inverse Kinematics Problem Joint Displacement Companion Equation 
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Copyright information

© Springer-Verlag New York Inc. 1988

Authors and Affiliations

  • Marko I. Vuskovic
    • 1
  • Socorro C. Hunt
    • 1
  1. 1.Department of Mathematical SciencesSan Diego State UniversitySan DiegoUSA

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