Inverse kinematics solution system for use with robots

An inverse kinematics solution system for a robot, which is used for obtaining a joint angle value corresponding to a target pose value based on the input target pose value and degree-of-freedom of a robot, the system comprising:

• a parameter initialization module configured to obtain an initial parameter value, the initial parameter value comprising an initial joint angle value, an initial pose value and an initial error value of the initial pose value relative to the target pose value;
• an inverse kinematics scheduler configured to determine, based on the target pose value, whether to select a current joint angle value as a joint angle value corresponding to the target pose value or transmit the current joint angle value to a Jacobian calculation unit, wherein the current joint angle value is the initial joint angle value from the parameter initialization module or a joint angle value from a parameter selector;
• the Jacobian calculation unit configured to obtain a Jacobian matrix and a Jacobian transposed matrix based on the received joint angle value;
• pose update units configured to obtain a plurality of new joint angle values based on the Jacobian matrix and the Jacobian transposed matrix;
• and
• the parameter selector configured to select a joint angle value from the plurality of new joint angle values and transmit said joint angle value to the inverse kinematics scheduler.