Inverse kinematics solving method, electronic device, and computer-readable storage medium

Abstract

The application discloses a method for solving inverse kinematics, an electronic device and a computer readable storage medium. The method for solving inverse kinematics comprises the following steps: obtaining an initial joint state and a desired end position of a mechanical arm; obtaining an initial end position from the initial joint state, and obtaining an initial position error based on the initial end position and the desired end position; obtaining an initial iteration joint state according to the initial position error and the initial joint state; determining whether an initial iteration position error between an initial iteration end position corresponding to the initial iteration joint state and the desired end position is less than or equal to a preset threshold value; if not, iteratively solving the iteration joint state, so that an iteration position error between an iteration end position corresponding to the iteration joint state and the desired end position is less than or equal to the preset threshold value, or the number of iterations reaches a preset number of times, and finally obtaining a joint state. The application can improve the success rate of inverse solution by iteratively solving or obtaining the final joint state when the number of iterations reaches the preset number of times.

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