反向动力学
解算器
运动学
计算机科学
加速
自由度(物理和化学)
反向
运动学方程
正向运动学
反问题
趋同(经济学)
机器人运动学
控制理论(社会学)
数学优化
机器人
数学
人工智能
数学分析
几何学
物理
并行计算
经典力学
移动机器人
控制(管理)
量子力学
经济
程序设计语言
经济增长
作者
Shuxin Xie,Lining Sun,Zhenhua Wang,Guodong Chen
标识
DOI:10.1177/17298806221104602
摘要
The inverse kinematics problem involves the study that the inverse kinematics solver needs to calculate the values of the joint variables given the desired pose of the end-effector of a robot. However, to apply to seven-degree-of-freedom robots with arbitrary configuration, analytical methods need to fix one joint and set an increment when the current value fails to solve the inverse kinematics problem. Although numerical methods based on inverse differential kinematics are efficient in solving the inverse kinematics problem of seven-degree-of-freedom robots with arbitrary geometric parameters, they are deficient in numerical stability and time-consuming for convergence to one solution governed by the initial guess. In order to reduce the execution time of an inverse kinematics solver, this article introduces a speedup method for analytical and numerical methods, which can improve their performance.
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