A Hybrid Framework for Solving the Inverse Kinematics of a RPP Manipulators

This paper analyzes the kinematics of a 3-DOF cylindrical manipulator, starting with the forward kinematics equations. Iterative methods, including Newton-Raphson and Broyden, as well as hybrid approaches combining these methods with ADAM Optimizer and Anderson Acceleration, are applied to solve the inverse kinematics problem. The methods are evaluated based on execution time, convergence accuracy, and iteration count, specifically considering joint limits. The results show that hybrid methods provide better performance in terms of efficiency and robustness compared to standard iterative methods.