A Derivative Free Iterative Method for Locating the Hand Position of a Robot Manipulator
نویسنده
چکیده
In attempting to minimize the distance between the hand of a manipulator and the position of a goal a numerical method that alternately adjusts the con guration of one joint at a time is proposed The adjustment for either a revolute joint or a prismatic joint can be made e ectively without derivative evaluation This method can be applied to any manipulator of any number of joints with arbitrary geometry Global convergence is expected in general Empirical results seem to suggest that the rate of convergence is linear and that for redundant manipulators the error constants are fairly small
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