An Innovative Inverse Kinematics for Bionic Robot Arms Based on Directional Tangent Matrix

In this paper, we present an innovative inverse kinematics (IK) for Bionic Robot Arms using what we call Directional Tangent Matrix (DTM). We start by revisiting the concept of fixed-axis rotation, introducing the DTM as an alternative to the well-known direction cosine matrix (DCM). Then, the DTM is used for creating kinematic equations of general robot arms, simplifying these equations into a more manageable form: a second-order polynomial with four unknowns. We focus on solving these equations for robot arms with roughly parallel Joint Axes#3#4#5. The solutions we find are then applied in realtime to the actual robot arms using polynomial continuation method. Our approach offers a new way to develop and control Bionic Robot Arms, which could be more efficient and flexible compared to existing methods.