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A new method for computing numerical solutions to the inverse kinematics problem of robotic manipulators is developed in this paper.With the joint limitations,the electromagnetism-like method(EM) utilizes an attraction-repulsion mechanism to move the sample points towards the optimum solution rapidly.Based on this approximate solution given by EM,a modified DavidonFletcher-Powell(DFP) algorithm is developed to solve the problem at the desired precision.Unlike the traditional algorithms,this modified DFP(MDFP) algorithm randomly chooses the search step size between 0 and 1.Hence,the computational complexity is greatly reduced.The experimental results based on ten general test functions and PUMA 560 robot show that this new near-real time hybrid method can produce best performance.
A new method for computing numerical solutions to the inverse kinematics problem of robotic manipulators is developed in this paper. With the joint limitations, the electromagnetism-like method (EM) utilizes an attraction-repulsion mechanism to move the sample points towards the optimum solution rapidly . Based on this approximate solution given by EM, a modified Davidon Fletcher-Powell (DFP) algorithm is developed to solve the problem at the desired precision. Uniform the traditional algorithms, this modified DFP (MDFP) algorithm randomly chooses the search step size between 0 and 1.ence, the computational complexity is greatly reduced. The experimental results based on ten general test functions and PUMA 560 robot show that this new near-real time hybrid method can produce best performance.