| Trial mountain climbing algorithm for solving the inverse kinematics of redundant manipulator |
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| 作者姓名： | 周友行 何清华 邓伯禄 |
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| 作者单位： | 周友行(College of Mechanical and Electronic Engineering, Central South University, Changsha 410083, China;College of Mechanical and Engineering, Xiangtan University,Xiangtan 411105,China);何清华,邓伯禄(College of Mechanical and Electronic Engineering, Central South University, Changsha 410083, China) |
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| 基金项目： | TheNationalHighTechnologyResearchandDevelopmentProgramofChina(No .86 3 5 12 80 6 0 1) |
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| 摘 要： |
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| 收稿时间： | 17 February 2002 |
Trial mountain climbing algorithm for solving the inverse kinematics of redundant manipulator |
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| Zhou You-hang , He Qing-hua and Deng Bo-lu.Trial mountain climbing algorithm for solving the inverse kinematics of redundant manipulator[J].Journal of Central South University of Technology,2002,9(4):285-288. |
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| Authors: | Zhou You-hang He Qing-hua and Deng Bo-lu |
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| Affiliation: | College of Mechanical and Electronic Engineering, Central South University, Changsha 410083, China;College of Mechanical and Engineering, Xiangtan University,Xiangtan 411105,China College of Mechanical and Electronic Engineering, Central South University, Changsha 410083, China College of Mechanical and Electronic Engineering, Central South University, Changsha 410083, China |
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| Abstract: | Trial mountain climbing algorithm to solve the inverse kinematics problem of redundant manipulator is introduced, and a method of describing a numeral with a special numeration system is given to define the changed step of the trail mountain climbing algorithm. The results show that a likelihood solution can be found quickly in the infinite groups of likelihood solutions within 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. |
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| Keywords: | manipulator tunnel-drilling robot kinematics equation trial mountain climbing algorithm |
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