Multiple-Point Position Control of Robot Arms by Joint-Independent Framework for Forward and Inverse Kinematics

In our previous work, we developed a joint-independent kinematics method which is easy to solve an inverse kinematics for a variety of joint structures and verified it with robot arms of serial robot structure. However, when applying it to robot arms with redundant and complex structure, we need to solve a multiple-point position-control problem because we should satisfy multiple constraints at the same time, which we have not solved yet. In this paper, we develop a method to apply the joint-independent kinematics method to the multiple-point position-control problem and verify it with numerical simulations.