# Implementations of Cyclic Coordinate Descent (CCD) Algorithm for Inverse Kinematic Models

## Document Type

Oral Presentation

SURC 201

21-5-2015

21-5-2015

## Keywords

CCD Algorithm, D-H Parameters, Forward Kinematics, Inverse Kinematics

## Abstract

The cyclic coordinate descent (CCD) algorithm is well established for use in numerically determining solutions to the inverse kinematics of manipulators. This algorithm uses progressive numerical approximations of the forward kinematic model to determine a set of joint parameters that satisfies the specified position and orientation of the end effector. This provides an easily implementable approach to solving the non-linear inverse kinematics. This paper presents the implementation of the CCD algorithm for the Mitsubishi MELFA RV-6SD Industrial Robot. The paper provides code samples to illustrate how to develop and implement the forward kinematics model commercially available numerical computing software. It then demonstrates the application and development of the CCD algorithm from the forward kinematics. Finally, the paper illustrates how to use the CCD algorithm to linearly interpolate between points within the workspace. This paper provides an introduction to the forward kinematics using the D-H parameters and its application to inverse kinematic problems. The paper does not address issues involving singular solutions, system dynamics, or workspace restrictions within the reachable space. The paper presents a series of examples that are used to develop conceptual understanding in the students. These examples are progressively constructed so that the students are re-enforcing previous concepts with each project within the course.

Nathan Davis

## Department/Program

Engineering Technologies, Safety, & Construction

Engineering Technologies, Safety, & Construction

## Share

COinS

May 21st, 1:30 PM May 21st, 1:50 PM

Implementations of Cyclic Coordinate Descent (CCD) Algorithm for Inverse Kinematic Models

SURC 201

The cyclic coordinate descent (CCD) algorithm is well established for use in numerically determining solutions to the inverse kinematics of manipulators. This algorithm uses progressive numerical approximations of the forward kinematic model to determine a set of joint parameters that satisfies the specified position and orientation of the end effector. This provides an easily implementable approach to solving the non-linear inverse kinematics. This paper presents the implementation of the CCD algorithm for the Mitsubishi MELFA RV-6SD Industrial Robot. The paper provides code samples to illustrate how to develop and implement the forward kinematics model commercially available numerical computing software. It then demonstrates the application and development of the CCD algorithm from the forward kinematics. Finally, the paper illustrates how to use the CCD algorithm to linearly interpolate between points within the workspace. This paper provides an introduction to the forward kinematics using the D-H parameters and its application to inverse kinematic problems. The paper does not address issues involving singular solutions, system dynamics, or workspace restrictions within the reachable space. The paper presents a series of examples that are used to develop conceptual understanding in the students. These examples are progressively constructed so that the students are re-enforcing previous concepts with each project within the course.