Inverse kinematics of active rotation ball joint manipulators using workspaces density functions

Abstract

This paper presents a novel method to solve the inverse kinematics of redundant manipulators with active Spherical ball joint. The workspace density function is built combining the Fourier transform, convolution theorem and particular form of the workspace density of a single link, which can accurately generate the size of workspace. The approach of inverse kinematics selects a solution from among a very large discrete set using workspace density as an evaluation criterion. We then show the simulation results in the last section to proof the accuracy and precision of our method.