Improved numerical solutions of inverse kinematics of robots
- 23 March 2005
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- Vol. 2, 743-748
- https://doi.org/10.1109/robot.1985.1087237
Abstract
Numerical solution of the inverse kinematics of robots using modified Newton-Raphson (MNR) and modified predictor-corrector (MPC) algorithms is discussed. These modified algorithms are highly reliable and stable. Both algorithms always find a solution if a physically realizable robot configuration exists. They are also capable of approaching singular configurations of the robot as E = C ε m , where E is the error between the theoretical and numerically computed singular joint values, \epsiv is the convergence criteria, and C and m are appropriate constants. It is also shown that the modified predictor-corector (MPC) algorithm is 5-15 times faster than the modified Newton-Raphson (MNR) algorithm.Keywords
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