Trial mountain climbing algorithm for solving the inverse kinematics of redundant manipulator

被引：0
|
作者：
周友行
何清华
邓伯禄
机构：
[1] Central South University
[2] Central South University Changsha 410083
[3] China
[4] China College of Mechanical Engineering
[5] College of Mechanical and Electronic Engineering
[6] Xiangtan 411105
[7] Xiangtan University
来源：
Journal of Central South University | 2002年 / 04期
关键词：
manipulator; tunnel drilling robot; kinematics equation; trial mountain climbing algorithm;
D O I：
暂无
中图分类号：
TP301.6 [算法理论];
学科分类号：
081202 ;
摘要：
Trial mountain climbing algorithm to solve the inverse kinematics problem of redundant manipulator is introduced, and a method of describing a numeral with a special numeration system is given to define the changed step of the trail mountain climbing algorithm. The results show that a likelihood solution can be found quickly in the infinite groups of likelihood solutions within the limited search times, and need not calculate the anti trigonometric function and the inverse matrix. In addition, this algorithm has many good qualities such as concise algorithm, tiny computation, fast convergence velocity, good stability and extensive adaptability.
引用
收藏
页码：285 / 288
页数：4
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