A Hybrid Appproach to Inverse Kinematics Modeling and Control of Pioneer 2 Robotic Arms

For robotic manipulators that are redundant or with high degrees of freedom, an analytical solution to the inverse kinematics is very difficult or impossible. As alternative approaches, neural networks and optimal search methods have been widely used for inverse kinematics modeling and control in robotics. This paper presents a first analytical solution to the inverse kinematics of a widely used robotic arm (Pioneer 2 robotic arm), which, combined with an optimal search method, provides an effective solution to the modeling and control of the Pioneer 2 robotic arm.