A Heuristic Iterative Method for Solving the Inverse Solution of Kinematics of Manipulators

Inverse kinematics is defined as the problem of determining a suitable set of joint configurations in which the end effector moves as smoothly and accurately as possible to the desired position. However, many current methods for finding kinematic inverse solutions are computationally expensive and often accompanied by singularity problems. This paper refers to the FABRIK method to solve the inverse kinematics problem of the manipulator. The method uses a method of forward and backward iteration of the node position to determine the kinematic inverse solution. In this paper, based on the method, a heuristic iterative method is proposed, which can be applied to solve the inverse kinematics problem of the serial manipulator. Taking the Dobot serial manipulator as an example, the feasibility of the heuristic iterative method for the inverse kinematics of the manipulator is proved. Compared with the commonly used Jacobian matrix transformation method, it is proved that the method can directly obtain the unique optimal solution and the structure is simple and so on.