A INVERSE SOLUTION FOR MANIPULATOR KINEMATICS BASED ON OPTIMAL ALGORITHM

This paper proposes an approach to the inverse solution for the manipulator kinematics based on the optimal algorithm. This optimal approach, based on confidence threshold algorithm, possesses the superlinear convergence rate. This approach has not only the rapid convergence for Newton's method, but also the desirable overall convergence. Compared with CCD & BFS, this approach has the obvious advantages and implements a real time solution on PC Computer generally. The optimal solution can be solved on PⅡ400, using less than 10ms.