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

被引：0
|
作者：
You-hang Zhou
Qing-hua He
Bo-lu Deng
机构：
[1] Central South University,College of Mechanical and Electronic Engineering
[2] Xiangtan University,College of Mechanical Engineering
来源：
Journal of Central South University of Technology | 2002年 / 9卷
关键词：
manipulator; tunnel-drilling robot; kinematics equation; trial mountain climbing algorithm;
D O I：
暂无
中图分类号：
学科分类号：
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 trial 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：3
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