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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.

In this paper, we establish Carleman estimates for the twodimensional isotropic non-stationary Lamé system with the zero Dirichlet boundaryconditions. Using this estimate, we prove the uniqueness and thestability in determining spatially varying density and two Lamécoefficients by a single measurement of solution over (0,T) x ω, where T > 0 is a sufficiently large time interval and a subdomainω satisfies a non-trapping condition.

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New approaches to manipulator arm solutions via unconstrained optimization theory

Carleman estimates for the non-stationary Lamé systemand theapplication to an inverse problem

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2 results

New approaches to manipulator arm solutions via unconstrained optimization theory

Carleman estimates for the non-stationary Lamé systemand theapplication to an inverse problem