A Method for Solving Inverse Kinematics of Variable Structure Truss Arm with High Redundancy

A method of solving the inverse kinematic problem for highly redundant degrees of freedom truss arm is proposed. The method is based on the compliance control technique. One special feature of the method is that it can provide an analytical formula tion of the inverse kinematic solution. The other is that it enables the control of end- effector compliance as well as the position and the orientation control. The pseudo-inverse Jacobian matrix with a weight matrix which is popularly used to solve the inverse kine matics with redundancy also provides the equivalent result to the proposed methods. The difference between them is that the pseudo-inverse approach provides a solution only for the position control and has no extension to the compliance control. In the paper, first, the forward kinematics will be formulated. Secondly, the inverse kinematic solution will be derived based on the compliance control technique. Thirdly, the end-effector compliance control and the arm configuration control will be addressed. Finally, the effectiveness of the method is confirmed through simulation experiments.