Abstract
This paper studies three efficient methods for solving inverse kinematics problems relevant to a six-link robot manipulator. In a problem formulation, governing kinematic equations are transformed into an unconstrained optimization problem with an objective function defined by a sum of squares of the errors, and then two nonlinear models—i.e. the variable metric method and the least squares method-are applied to derive stable joint solutions together with a practical linearized model. The results of computer simulation show that these numerical solutions are highly reliable over a much wider application range as compared with a traditional method.
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