An Asymptotic Observer for Solving the Inverse Kinematic Problem

It is shown that the asymptotic inverse kinematic problem can be reduced to the problem of observing the state variables of a certain nonlinear dynamic system. A simple asymptotic observer is used in the state estimation and the singular perturbation theory is used in the convergence proof of the algorithm. It is also shown that the classical methods of Newton and of the gradient can be obtained as particular asymptotic observers.