Inverse Kinematics Solution of Underwater Manipulator Based on Jacobi Matrix

The inverse kinematics of the manipulator is the key and difficult point in the real-time control of the manipulator. Based on Jacobi matrix generalized inverse method, this article obtains the the inverse kinematics of a 6-DOF manipulator which is used for underwater propeller cleaning. Then, based on linear and circular target trajectory, through MATLAB simulation, we obtain all joint angles in real time, the trajectory for inverse solution and the error between simulation results and the target trajectory. The error between the simulation results and the target trajectory is less than $1.5\times 10^{-3}m$, which verifies that the method can obtain the real-time inverse kinematics solution of the manipulator.