Numerical inverse kinematics for modular reconfigurable robots

.equations based on the product-of-exponential POE formulas. The Newton]Raphson iteration method is employed for solution. The automated model generation is accomplished by using the kinematic graph representation of a modular robot assembly configuration and the related accessibility matrix and path matrix. Examples of the inverse kinematics solutions for different types of modular robots are given to demonstrate the applicability and effectiveness of the proposed algorithm. Q 1999 John Wiley & Sons, Inc.

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