Robot Inverse Kinematics and Dynamics Algorithms for Windows

Inverse kinematics and dynamics algorithms for serial robots are presented in this paper. Industrial robots controlled by the joint actuators require the values of joint torques and forces. These values depend on the joint trajectories necessary to produce a desired end effector motion. Inverse kinematics converts the Cartesian coordinates of the end effector to corresponding joint coordinates. This can be used in further analysis, for example, to find out the joint torques and forces to move the end effector. This paper presents a C++ inverse kinematics algorithm for wrist-partitioned robots like PUMA 560. Such problem normally has eight solutions. A user can specify one, or one of them is chosen as default for further analysis. Using the joint angles obtained from the inverse kinematics, their derivatives, i.e., joint velocities and accelerations, are obtained, which are then fed to the C++ RIDIM (Recursive Inverse Dynamics for Industrial Manipulators) algorithm developed at IIT Delhi. Thus, a complete inverse kinematics and dynamics algorithm is developed that is interfaced with a VC++ program to make user-friendly algorithms for the Windows users. Such an indigenous tool is very useful for teaching of robotics. Industry users can also use such tool to develop their robot control algorithms.