Development and Experiment of an Inverse Displacement Solution for Manipulator’s Embedded Controller

This paper formulates a generalized method for solving manipulator inverse displacement problem, which is applicable for hyper-redundant and non-redundant series manipulator. This method is normalized and suitable for developing the manipulator's embedded control system. The possession of system resources is few. Some of the simulation results and experimental findings on several MCUs(Micro Control Units) are mentioned, which are useful for some manipulator controlling experiments based on this method.