机器人2001，Vol.23Issue(2)：137-141,5.
一种基于优化算法的机械手运动学逆解
A INVERSE SOLUTION FOR MANIPULATOR KINEMATICS
BASED ON OPTIMAL ALGORITHM
摘要
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.关键词
逆解/信赖域/总体收敛分类
信息技术与安全科学引用本文复制引用
马化一,张艾群,张竺英..一种基于优化算法的机械手运动学逆解[J].机器人,2001,23(2):137-141,5.
