In order to solve the inverse kinematics problem of robot with the general six degree of freedom (6DOF),an inverse algorithm solution was proposed base on Newton iterative method of simplified Jacobian matrix to approach the target position in differential. Because the simplified Jacobian was not square matrix, the SVD decomposition was required for solving preudoinverse to avoid the singularity problem. The algorithm has quite good local convergence, which can achieve the ideal speed and higher precision.
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何理,张军.基于简化形式的Jacobian矩阵的牛顿迭代法求解6自由度机器人逆解算法[J].机床与液压,2015,43(21):107-108. . Inverse Algorithm Solution of 6DOF Robot Base on Newton Iterative Method of Simplified Jacobian Matrix[J]. Machine Tool & Hydraulics,2015,43(21):107-108