Automatic preparing kinematic information during robot direction

This paper presents an approach for solving inverted kinematics for robots based on combination of solving inverted equation problems and controlling the solution choice for a constrained nonlinear optimization program. This method can be applied for robots with degree of freedom (n) higher than 6 (n ≥ 6). In this paper, we also demonstrate the application of the method for solving an inverted kinematics problem for robot Elbow and Stanford with n = 6.