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Generic Inverse Kinematics Approach for Robotics Applications

The concept of DLR's new light‐weight robot generation is a modular one. It offers an almost infinite number of kinematics configurations. For pre‐simulations a virtual assembly and modeling tool was developed that supports online simulations using commercial multi‐body simulation software. Here, a key feature is the generic implementation of the inverse kinematics in order to deal with arbitrary kinematics. The paper addresses a method that combines the advantages of two basic algorithms and that can be easily implemented in MBS software.