Inverse Kinematic Problem Solving: A Symbolic Approach Using MapleSim and Maple
In multibody mechanics, the motion analysis
for a platform (the kinematics problem) can
be classified into two cases: the forward
kinematics problem and the inverse kinematics
problem. In general it
is pretty straightforward to solve the forward
kinematics problem both numerically and
symbolically.
In contrast, solving for the inverse
kinematics problem is more complex. Because of the complexity involved, the inverse
kinematics problem is often solved numerically
through iterations, and is computationally
expensive. With a numeric approach, however,
information about the motion of the mechanism
is often lost. In this paper, we will describe how
to obtain a symbolic solution to the inverse
kinematics problem for a Stewart-Gough
parallel link manipulator using tools available
in MapleSim.
