An Efficient Pseudo-Inverse Solution to the Inverse Kinematic Problem for 6-Joint Manipulators
نویسندگان
چکیده
منابع مشابه
the algorithm for solving the inverse numerical range problem
برد عددی ماتریس مربعی a را با w(a) نشان داده و به این صورت تعریف می کنیم w(a)={x8ax:x ?s1} ، که در آن s1 گوی واحد است. در سال 2009، راسل کاردن مساله برد عددی معکوس را به این صورت مطرح کرده است : برای نقطه z?w(a)، بردار x?s1 را به گونه ای می یابیم که z=x*ax، در این پایان نامه ، الگوریتمی برای حل مساله برد عددی معکوس ارانه می دهیم.
15 صفحه اولThe use of inverse quadratic radial basis functions for the solution of an inverse heat problem
In this paper, a numerical procedure for an inverse problem of simultaneously determining an unknown coefficient in a semilinear parabolic equation subject to the specification of the solution at an internal point along with the usual initial boundary conditions is considered. The method consists of expanding the required approximate solution as the elements of the inverse quadrati...
متن کاملA Normal form Solution to the Singular Inverse Kinematic Problem for Robotic Manipulators: The Quadratic Case
We present a normal form approach to solving the singular inverse kinematic problem for non-redundant robot kinematics. A standing assumption is made that singular configurations of the kinematics have corank 1 and that the kinematics are equivalent to the quadratic normal form. The approach has been illustrated with a simulation case study of 2R kinematics. A comparison with the Singularity-Ro...
متن کاملthe use of inverse quadratic radial basis functions for the solution of an inverse heat problem
in this paper, a numerical procedure for an inverse problem of simultaneously determining an unknown coefficient in a semilinear parabolic equation subject to the specification of the solution at an internal point along with the usual initial boundary conditions is considered. the method consists of expanding the required approximate solution as the elements of the inverse quadrati...
متن کاملReal-Time Solution of the Inverse Kinematic-Rate Problem
Solving the inverse kinematic-rate problem is an old and ever-present problem in robotics. Many methods of solution for this problem have been discussed over the past 30 years and, as computational speeds have improved, there has been greater expectation that this calculation will be performed online. This paper compares the merits of many of the methods already presented and describes a new ap...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Modeling, Identification and Control: A Norwegian Research Bulletin
سال: 1990
ISSN: 0332-7353,1890-1328
DOI: 10.4173/mic.1990.4.3