Solving the inverse kinematics of multiloop robots by structural and geometric decoupling

A unified approach is presented to the kinematics of robots and mechanisms with many loops. It is shown that proper use of the structural information defining a kinematic chain (i.e., the shape of its links, the type of its pairs, and their connections) can lead to the direct derivation of a set of decoupled congruence equations. An example is utilized to introduce concepts and operating rules of general validity. The basic steps for a computer implementation of the proposed approach are also discussed