Finding The Best Solution

Finding the solution, posed by the inverse kinematics itself does not solve the real time problem. Problem actually occurs now, in dealing with the multiple solutions. When the solution of inverse kinematics gives rise to a set of four solutions. It is often required to select only one particular solution, which is needed to map configuration of the arm. If care is not taken in choosing a solution, chance of choosing a solution which harms the robot and environment nearby is high. Also, at this particular set of solution(s), robot acquires the singularity configuration (having infinite velocities. Can be determined using jacobians) which is not desirable. Also it unnecessarily waste the time and energy.

Our approach to the solution is minimum differences between the two joint angle parameters obtained from the set of four different solutions obtained from the inverse kinematics solution.

The results of this approach is shown in simulations below.