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Because the kinematic equations are nonlinear, their solution is not always easy or even possible in a closed form. Also, problems about the existence of a solution and about multiple solutions arise. Based on specific structural features of humanoid robot, this paper improves the formula of inverse kinematics of the robot leg. The solution needs only once multiplication by the inverse matrix. Compared with the general numerical solutions, the solution greatly reduces the number of matrix inversion operation and the number of the excess solutions. And this method is a simple and effective, convenient and quick calculation. |
