Inverse kinematics system and methods for controlling a robotic arm.

Abstract

The invention proposes a hybrid inverse kinematics system and method for controlling a robotic arm based on the selection of semi-explicit inverse kinematics solutions with convergent orientation. The method includes: obtaining the desired target posture of the end effector; generating a set of candidate semi-explicit inverse kinematics solutions using a semi-explicit inverse kinematics solver; evaluating the convergence capability corresponding to each candidate solution using a pre-trained predictive model; selecting at least one candidate solution as an initial solution for the numerical optimization algorithm; refining the initial solution using a numerical optimization solver to obtain the final inverse kinematics solution; and controlling the robotic arm according to the refined inverse kinematics solution. The invention increases the convergence rate, reduces computation time, and improves the stability of real-time robot control.

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