A New Computing Method of the Inverse Kinematics for the Working Devices of a Demolition Robot

The working devices of the demolition robot GTC-45 can be regarded as the open loop multi-rod mechanical arms with the redundant degrees of freedom. Thus, the problems for the diversity and non convergence of the solutions exist when the inverse kinematics is computed from the position and orientation space to the joint space. In view of the above problems, the working devices of GTC-45 robot are regarded as the research object. Furthermore, based on the minimum movement distance of the joints as the optimization criterion, an improved geometric algorithm is proposed. The calculation results show that the method is effective and accurate.