Manipulator inverse kinematics based on joint functions

A novel iterative inverse transform solution for robotic manipulators, termed functional joint control (FJC), is proposed. It is applicable to an important class of robots that includes many industrial robots. FJC is numerically well-behaved around singularities. The rate of convergence of FJC is comparable to other iterative solutions. The algorithm can be decomposed naturally for a multiprocessor implementation, with up to one processor for each joint of the manipulator. Building on the basic FJC algorithm, higher-level heuristics are used to handle joint limits and some redundant manipulators