Comparison of the efficiency of numerical algorithms for solving the inverse kinematics problem of redundant serial-link robots

This paper presents the results of the comparison of the use efficiency between two numerical algorithms which are the Adjust of Generalized Vector (AGV) and the Closed-Loop Inverse kinematics (CLIK) method when solving the inverse kinematics problem (IK) for the redundant serial-link robots. AGV method is developed based on the Taylor expansion method but adjusted to improve the accuracy of the IK solution. CLIK is a numerical method that is built as a closed-loop kinematics control system with the position error of the end-effector point in the workspace. The industrial SCARA robots with 4 degrees of freedom (DOF) including rotational and translational joints and PA10-7C industrial robots with 7-DOF are used to illustrate the effectiveness of the algorithms. The comparison results are expressed through the obtained joint variables values, the position error of the end-effector point in the workspace, and the deviation values of joint variables between the two methods. The results of this study allow evaluating the effectiveness of these methods for solving the IK and serve as the basis for choosing a suitable method for each specific robot configuration. However, this article has not considered the effectiveness of the methods mentioned above for other types of robots. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2021.