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What are the common numerical methods used in solving inverse kinematics problems for robotic arms?

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Inverse kinematics problems for robotic arms are commonly solved using numerical methods. One approach is the use of iterative numerical methods, such as the Newton-Raphson or Jacobian inverse methods, which calculate the joint variables iteratively to move the end-effector to the desired position and orientation . Another approach is the use of lookup tables, where a table is built to output a joint configuration that can move the end-effector close to the target position, reducing the number of iterations required for the numerical method . Additionally, machine learning methods, such as neural networks with back-propagation algorithms, have been proposed to solve the inverse kinematics problem numerically with acceptable accuracy and precision .

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Open access•Journal Article•DOI An Improved Inverse Kinematics Solution for a Robot Arm Trajectory Using Multiple Adaptive Neuro-Fuzzy Inference Systems M. R. A. Refaai 09 Sep 2022-Advances in Materials Science and Engineering 1 Citations	The paper does not mention the common numerical methods used in solving inverse kinematics problems for robotic arms.
Proceedings Article•DOI Accelerating Numerical Inverse Kinematics Methods with the Lookup Table 01 Nov 2022	The paper does not mention the common numerical methods used in solving inverse kinematics problems for robotic arms.
Proceedings Article•DOI Accelerating Numerical Inverse Kinematics Methods with the Lookup Table Liwei Chan, Chi-Kai Ho, Chung-Ta King - Show less +2 more 01 Nov 2022	The paper does not mention the common numerical methods used in solving inverse kinematics problems for robotic arms.
Open access•Journal Article•DOI Inverse Kinematics for Serial Robot Manipulators by Particle Swarm Optimization and POSIX Threads Implementation Hasan Fehmi Danaci, Duong Nguyen, Thomas L. Harman - Show less +2 more 02 Apr 2023-Applied Sciences	The paper mentions that when analytical inverse kinematics solvers are not possible, numerical methods such as Newton-Raphson or Jacobian inverse can be used to solve the inverse kinematics problem for robotic arms.
Book Chapter•DOI Machine Learning Algorithm for Robotic Inverse Kinematic Problem Alberto Borboni 01 Jan 2023	The provided paper does not mention the common numerical methods used in solving inverse kinematics problems for robotic arms.

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