Inverse Kinematics of a Serial Robot

被引：3

作者：

Amici, Cinzia ^{[1
]}

Cappellini, Valter ^{[1
]}

机构：

[1] Univ Brescia, Mech & Ind Engn Dept, I-25123 Brescia, Italy

来源：

INTERNATIONAL SCIENTIFIC CONFERENCE WEEK OF SCIENCE IN SPBPU - CIVIL ENGINEERING (SPBWOSCE-2015) | 2016年 / 53卷

关键词：

NEWTON-RAPHSON; FUZZY-LOGIC; SYSTEMS; ACCURACY; ALGORITHM; IDENTIFICATION; METHODOLOGIES; CALIBRATION; DESIGN; SET;

D O I：

10.1051/matecconf/20165301060

中图分类号：

TU [建筑科学];

学科分类号：

0813 ;

摘要：

This work describes a technique to treat the inverse kinematics of a serial manipulator. The inverse kinematics is obtained through the numerical inversion of the Jacobian matrix, that represents the equation of motion of the manipulator. The inversion is affected by numerical errors and, in different conditions, due to the numerical nature of the solver, it does not converge to a reasonable solution. Thus a soft computing approach is adopted to mix different traditional methods to obtain an increment of algorithmic convergence.

引用

页数：7

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