Inverse Kinematics Solution for Demolition Robot Manipulators Based on Improved Newton–Raphson Algorithm

ABSTRACT Robotic manipulators have become essential in demolition tasks involving hazardous, confined, or structurally unstable environments, where precise and responsive motion control is critical for safety and efficiency. Solving the inverse kinematics (IK) of demolition robot manipulators poses considerable challenges due to the inherent strong nonlinearity and coupling in their kinematic equations, along with potential singularities that can undermine real‐time computational efficiency and system robustness. To address these issues, this study introduces an enhanced Newton–Raphson (NR) approach, specifically optimized for inverse kinematic analysis of 6‐DOF manipulators equipped with a spherical wrist architecture frequently adopted in demolition robotic arms. The proposed method strategically partitions the manipulator into two three‐DOF segments and constructs NR iterative equations by utilizing the reconnecting constraints between these kinematic substructures. After solving a subset of joint variables iteratively, the remaining two joint angles are obtained analytically. The experimental results show that: Compared with the traditional Newton–Raphson method, the improved method has a faster convergence speed, higher accuracy, and better robustness, especially when dealing with singular points at the wrist. This makes the improved method applicable to the inverse kinematics control of dismantling robotic arms in complex environments.