Analysis of methods for solving inverse kinematics of modular reconfigurable systems

The relevance of this work is due to the actualization of methods for solving the inverse kinematics in relation to various kinematic structures (formations) of reconfigurable modular systems. The purpose of the work is to analyze methods for solving the inverse kinematics, which can be applied to various formations of self-configuring multilink robotic systems. A study of the forward kinematics of modular robotic systems various formations is conducted on the basis of the previously obtained research results of other scientists. The analysis of methods for solving the inverse kinematics of modular reconfigurable systems was carried out and an assessment of their possible application for various kinematic structures of modular systems was made. Analytical and numerical methods of solution were considered, and examples of practical application were also given. In addition, the paper analyzed various machine learning methods. With regard to the results of the study, the advantages and disadvantages of various methods for solving the inverse kinematics of modular robotic systems were highlighted. Potentially suitable methods for solving this problem from the point of view of computational complexity and application possibilities for systems with a redundant number of degrees of freedom are identified. Among the methods considered, particular solutions of the inverse kinematics of a certain modular reconfigurable system kinematic structure are often evaluated. As a result of the analysis, it is possible to isolate areas of research related to the development of machine learning methods that are potentially suitable for use in control problems for self-reconfiguring modular robotic systems. The development of such a method will enable to reduce the number of preliminary analytical calculations, to implement a control system that does not require significant changes in algorithms, and also to expand the possibilities of using modular systems by adapting this system to the movement surface.

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