Inverse Kinematics of a Humanoid Robotic Arm With Fixed Joint Method

In this paper, we propose a new algorithm to solve the inverse kinematics problem. It would adaptively limit the movability of certain joints during the iteration process of inverse kinematics according to the pose of the manipulator and the target position. This change could prevent lower links to get tangled and cause a singularity. Our research is based on a model of a 7-DOFs (degree of freedoms) humanoid robotic arm, and the parameter study of the inverse kinematics algorithm has been done to increase both success rate and decrease calculation time. This paper provides a fast and low computational cost scheme to calculate inverse kinematics with the ability to reduce the chance of encountering the singular points.