Inverse Kinematics of Redundant Manipulator using Interval Newton Method

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Virendra Kumar 1,* Soumen Sen 1 S.S. Roy 2 S.K Das 1 S.N.Shome 1

1. Robotics & Automation Division, CSIR-Central Mechanical Engineering Research Institute, Durgapur, 713209 India

2. Mechanical Engineering Department, National Institute of Technology, Durgapur, 713209 India

* Corresponding author.


Received: 10 Apr. 2015 / Revised: 21 May 2015 / Accepted: 4 Jul. 2015 / Published: 8 Aug. 2015

Index Terms

Interval Newton Method, Redundant Manipulator, Inverse Kinematics, Manipulability


The paper presents an application of Interval Newton method to solve the inverse kinematics and redundancy resolution of a serial redundant manipulator. Such inverse problems are often encountered when the manipulator link lengths, joint angles and end-effector uncertainty bounds are given, which occurs due to because of inaccuracies in joint angle measurements, manufacturing tolerances, link geometries approximations, etc. The inverse kinematics of three degree of freedom planar redundant positioning manipulator without end-effector has been evaluated using the manipulability of Jacobian matrix as performance metric. To solve the nonlinear equation of inverse kinematics, the multidimensional Newton method is used. The inverse kinematics is intended to produce solutions for joint variables in interval of tolerances for specified end effector accuracy range. As exemplar problem solving, a planar 3-degrees-of-freedom serial link redundant manipulators is considered.

Cite This Paper

Virendra Kumar, Soumen Sen, S.S. Roy, S.K Das, S.N.Shome,"Inverse Kinematics of Redundant Manipulator using Interval Newton Method", IJEM, vol.5, no.2, pp.19-29, 2015. DOI: 10.5815/ijem.2015.02.03


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