Beyer, U.U.BeyerSmieja, F.F.Smieja2022-03-032022-03-031997https://publica.fraunhofer.de/handle/publica/19186610.1023/A:10179198153382-s2.0-0031119929Inversion of the kinematics of manipulators is one of the central problems in the field of robot arm control. The iterative use of inverse differential kinematics is a popular method of solving this task. Normally the solution of the problem requires a complex mathematical apparatus. It involves methods for solving equation systems as well as algorithms for optimization. In this paper we introduce a naïve heuristic method which works without the need for complex mathematical algorithms. This method forms a simple basis for the more sophisticated control procedures of our robot manipulator (JANUS).endifferential kinematicautonomous agentheuristic005006629journal article