Closed-Form Solution of Inverse Kinematics for the Puma Manipulator
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%.
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