CONVERGENCE OF ANALYTICAL-NUMERICAL ALGORITHM FOR INVERSE KINEMATICS OF NIRYO ONE ROBOT

10th International Congress of the Serbian Society of Mechanics (18-20. 06. 2025, Niš) [pp. 384-391]

AUTHOR(S) / AUTOR(I): Vuk Todorovic, Nikola Nesic , Srdjan Jovic 

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DOI: 10.46793/ICSSM25.384T

ABSTRACT / SAŽETAK:

In this paper, we analyzed the convergence of an analytical-numerical algorithm (presented in detail in a previous paper by the authors [1]) used to solve the inverse kinematics of a Niryo One robot. The testing procedure involves selecting certain parameters related to the analytical- numerical algorithm and the test itself. Afterward, a set of evenly spaced points in a reduced joint space of the robot was selected so that we could determine the forward kinematics of those known points. As a result, we had a set of possible robot configurations against which we tested whether the analytical-numerical algorithm converges. The convergence was then determined as the ratio of times the analytical-numerical algorithm converged to the total number of trials in the given test procedure. Among the selected parameters is an offset used to reduce the actuation range of each joint during the test, which may cause a significant nonlinear change in the results, hence why we performed the test multiple times while varying this parameter and presented the results in the form of a graph.

KEYWORDS / KLJUČNE REČI:

Inverse Kinematics, Analytical-Numerical Algorithm, Algorithm Convergence, Niryo One

ACKNOWLEDGEMENT / PROJEKAT:

This research has been supported by the Serbian Ministry of Science, Technological Development and Innovations research grant No. 451-03-18/2025-03/200155.

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