A Geometry based IK Solver and B-Spline Method for Trajectory Tracking of 5-DOF Manipulators

In this paper, a novel geometry-based IK solver and B-spline method are implemented to accomplish the trajectory tracking of a 5-DOF manipulator. B-spline curve-fitting algorithm is applied for path planning and appears better continuity and smoothness comparing with traditional polynomial interpolation method. To further improve the efficiency of the planner, a novel inverse kinematic solver is proposed. The IK solver is designed based on manipulator's geometry structure, which manages to avoid the problem of infinite IK solutions and reduce the calculation amount. Both simulations and experiments on the real platform are given to verify the feasibility of the proposed approach.