Trial mountain climbing algorithm for solving the inverse kinematics of redundant manipulator
来源期刊:中南大学学报(英文版)2002年第4期
论文作者:周友行 何清华 邓伯禄
文章页码:285 - 288
Key words:manipulator; tunnel-drilling robot; kinematics equation; trial mountain climbing algorithm
Abstract: Trial mountain climbing algorithm to solve the inverse kinematics problem of redundantmanipulator is introduced, and a method of describing a numeralwith a special numeration system is given to define the changed step of the trail mountain climbing algorithm. The results showthat a likelihood solution can be found quickly in the infinite groups of likelihood solutions with in the limited search times, and need not calculate the anti-trigonometric function and the inverse matrix. In addition, this algorithm has many good qualities such as concise algorithm, tiny computation, fast convergence velocity, good stability and extensive adaptability.