Applications of Jacobi Matrices in Kinematics of Robots

In this paper, an inverse kinematics issue of robot was studied based on the properties of Jacobi matrices. Especially, the cases with the redundancy and singularity of the matrix were investigated. Firstly, a method was proposed to solve the inverse kinematics. Then its applications were presented. Finally, some simulation experiments were carried out. The results provide a basic method for the programming and control of robot action.