Volume 23 Issue 2
Mar.  2001
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MA Hua yi, ZHANG Ai qun, ZHANG Zhu ying. A INVERSE SOLUTION FOR MANIPULATOR KINEMATICS BASED ON OPTIMAL ALGORITHM[J]. ROBOT, 2001, 23(2): 137-141.
Citation: MA Hua yi, ZHANG Ai qun, ZHANG Zhu ying. A INVERSE SOLUTION FOR MANIPULATOR KINEMATICS BASED ON OPTIMAL ALGORITHM[J]. ROBOT, 2001, 23(2): 137-141.
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A INVERSE SOLUTION FOR MANIPULATOR KINEMATICS BASED ON OPTIMAL ALGORITHM

  • Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, 110015

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  • Received Date: September 04, 2000
  • Published Date: March 14, 2001
    Graphical Abstract
    • Abstract
  • 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.
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    • References (14)
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