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In this brief, the current robust numerical solution to the inversekinematics based on Levenberg-Marquardt (LM) method is reanalyzed throughcontrol theory instead of numerical method. Compared to current works, therobustness of computation and convergence performance of computational errorare analyzed much more clearly by analyzing the control performance of thecorrected model free adaptive control (MFAC). Then mainly motivated byminimizing the predictive tracking error, this study suggests a new method ofmodel free adaptive predictive control (MFAPC) to solve the inverse kinematicsproblem. At last, we apply the MFAPC as a controller for the robotic kinematiccontrol problem in simulation. It not only shows an excellent controlperformance but also efficiently acquires the solution to inverse kinematic.

Discussions on Inverse Kinematics based on Levenberg-Marquardt Method and Model-Free Adaptive (Predictive) Control