Abstract
Trial mountain climbing algorithm to solve the inverse kinematics problem of redundant manipulator is introduced, and a method of describing a numeral with a special numeration system is given to define the changed step of the trial mountain climbing algorithm. The results show that a likelihood solution can be found quickly in the infinite groups of likelihood solutions within the limited search times, and need not calculate the anti-trigonometric function and the inverse matrix. In addition, this algorithm has many good qualities such as concise algorithm, tiny computation, fast convergence velocity, good stability and extensive adaptability.
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Foundation item: The National High Technology Research and Development Program of China(No.863-512-806-01)
Biography of the first author: ZHOU You-hang, Dr., born in August 1971, majoring in special robot and robot planning.
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Zhou, Yh., He, Qh. & Deng, Bl. Trial mountain climbing algorithm for solving the inverse kinematics of redundant manipulator. J Cent. South Univ. Technol. 9, 285–288 (2002). https://doi.org/10.1007/s11771-002-0043-x
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DOI: https://doi.org/10.1007/s11771-002-0043-x