Solution Algorithm of Inverse Kinematics Problem for Kuka KRC3 Robots

In this paper the solution algorithm of inverse kinematics problem for KUKA KRC3 robots will be presented. Creating of this algorithm is fundamental problem of future computational intelligence for these robots. The problem of computing the joint variables corresponding a specified location of end-effector is called inverse kinematics problem. This algorithm was derived and implemented into the controller of the KUKA KRC3 robot. It allowed controlling these robots by using the smart camera NI 1742, which specifies required location of the end-effector. This required location makes it possible for the end-effector to approach a manipulation object (observed by the camera) and pick it up. The controllers of these robots have software fault, which prevents the correct cooperation with cameras. The fault was eliminated with the use of solving inverse kinematics problem, which will be presented in the this paper.