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New approaches to manipulator arm solutions via unconstrained optimization theory

Published online by Cambridge University Press:  09 March 2009

Shinobu Sasaki
Shinobu Sasaki
Affiliation:
Reactor EngineeringJapan Atomic Energy Research InstituteTokai-muraNaka-gunIbaraki-ken (Japan)
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Summary

In this study, highly practical and reliable methods are proposed to determine arm solutions for a six-link robot manipulator. Based on a typical mathematical structure of minimizing an objective function, the optimization theory is applied to solve a reduced system of kinematic equations. The performance tests show that three different approaches are superior to a conventional method and of sufficiently practical use. Especially, the use of an algorithm presented in a linear search is promising.

Keywords

Six-link robotOptimization theoryKinematic analysisInverse problem.
Type
Research Article
Information
Robotica , Volume 11 , Issue 3 , May 1993 , pp. 253 - 262
Copyright
Copyright © Cambridge University Press 1993

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