Robotics: Heuristics Based Singularity Free Inverse Kinematics and Jacobian Inverse

In Robotics, inversion is encountered at two levels: Inverse Kinematics level and Inverse Jacobian level. We present a new and intuitive approach to simplify the existing analytical complex approaches for inversion: Kinematics and Jacobian. Inverse Kinematics also employs geometric approach. We present a different style to efficient geometric approach. We show that specification of end-effector position is not necessary. Robotic Jacobian is an m×n matrix with n degrees of freedom (DOF). The computation of inverse velocities is an issue when m ≠ n, for which we provide an intuitive and common sense approach to the Generalized Inverse. Thus, this paper provides intuitive exciting approaches for efficient computing of inverse kinematics and inverse Jacobian in robotics.