Analytical Solution for Inverse Kinematics

TL;DR

This paper presents a geometric, closed-form analytical solution for the inverse kinematics of a 6-DOF lunar robotic arm, enabling precise, real-time control crucial for space exploration tasks.

Contribution

The paper introduces a novel, efficient analytical inverse kinematics method specifically designed for lunar robotic arms, improving speed and accuracy over traditional numerical approaches.

Findings

Reduces computational time for IK calculations

Enhances real-time control in lunar environments

Supports autonomous lunar exploration missions

Abstract

This paper introduces a closed-form analytical solution for the inverse kinematics (IK) of a 6 Degrees of Freedom (DOF) serial robotic manipulator arm, configured with six revolute joints and utilized within the Lunar Exploration Rover System (LERS). As a critical asset for conducting precise operations in the demanding lunar environment, this robotic arm relies on the IK solution to determine joint parameters required for precise end-effector positioning, essential for tasks such as sample collection, infrastructure assembly, and equipment deployment. By applying geometric principles, the proposed method offers a highly efficient and accurate approach to solving the IK problem, significantly reducing computational demands compared to traditional numerical methods. This advancement not only enhances real-time operational capabilities but is also optimized for space robotics, where precision and speed are critical. Additionally, the paper explores the integration of the LERS robotic system, underscoring the importance of this work in supporting autonomous lunar exploration within the ARTEMIS program and future missions