A combined optimization method for solving the inverse kinematics problems of mechanical manipulators
A combined optimization method for solving the inverse kinematics problems of mechanical manipulators
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DOI：
10.1109/70.86079
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发表时间：
1991-08
期刊：
影响因子：
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通讯作者：
L. T. Wang;Chih-Cheng Chen
中科院分区：
文献类型：
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作者：
L. T. Wang;Chih-Cheng Chen
提出了一种计算机器人逆运动学问题数值解的新方法。该方法基于两种非线性规划技术和前向递归公式的结合，机器人的关节限制被隐式处理为简单的边界约束。这种方法是数值稳定的，因为它收敛到正确的答案，几乎任何初始近似，它是不敏感的奇异配置的机械手。此外，该方法计算效率高，可应用于具有任意自由度的串联机械手。>
A new method for computing numerical solutions to the inverse kinematics problem of robotic manipulators is developed. The method is based on a combination of two nonlinear programming techniques and the forward recursion formulas, with the joint limitations of the robot being handled implicitly as simple boundary constraints. This method is numerically stable since it converges to the correct answer with virtually any initial approximation, and it is not sensitive to the singular configuration of the manipulator. In addition, this method is computationally efficient and can be applied to serial manipulators having any number of degrees of freedom. >