7DOFs Robot Numerical Approach Method with Jacobian

Inverse kinematics can be solved in two ways. One is an analytical method and the other is a numerical method. Although the analytical method can be obtained the exact solution, it is not only more and more difficult to solve as the degree of freedom(DOF) increases but also need to recalculate when DOF of a robot arm or Denavit–Hartenberg(DH) parameters are changed. Contrastively, the numerical method, especially, the Jacobian based numerical method can easily solve any DOF and DH-parameter were changed except singular point problem. This study will be research non-redundancy and redundancy case. Therefore, this paper is presented about Jacobian based numerical solution. In the future, this study will be adapted to 7-DOF robot arm for approaching desire position.