Numerically stable inverse kinematics calculation of robot manipulators even in singular configuration

This paper presents new method of solving inverse kinematics problem for robot manipulators. It is impossible to solve inverse kinematics problem in singular configuration until today. In this proposal, we can get the most suitable angle by using Newton method, minimizing the difference between target and present position. A numerical study of a three-dimensional three-link manipulator confirms the validity of the proposed method.