Solvability-unconcerned Inverse Kinematics by Levenberg-Marquardt Method

Abstract

A robust numerical solution to the inverse kinematics is presented based on Levenberg-Marquardt method, where the squared norm of the residual is used for the damping factor. A rather simple idea remarkably improves numerical stability, convergence performance and computation speed even in unsolvable cases. It is suitable to large-scale structure-varying kinematic chains.