| Issue |
MATEC Web of Conferences
Volume 53, 2016
International Scientific Conference Week of Science in SPbPU – Civil Engineering (SPbWOSCE-2015)
|
|
|---|---|---|
| Article Number | 01060 | |
| Number of page(s) | 7 | |
| Section | Engineering and Technology | |
| DOI | https://doi.org/10.1051/matecconf/20165301060 | |
| Published online | 15 April 2016 | |
Inverse Kinematics of a Serial Robot
Università degli Studi di Brescia, Mechanical and Industrial Engineering Department, 25123 Brescia, Italy
a Corresponding author: cinzia.amici@unibs.it
This work describes a technique to treat the inverse kinematics of a serial manipulator. The inverse kinematics is obtained through the numerical inversion of the Jacobian matrix, that represents the equation of motion of the manipulator. The inversion is affected by numerical errors and, in different conditions, due to the numerical nature of the solver, it does not converge to a reasonable solution. Thus a soft computing approach is adopted to mix different traditional methods to obtain an increment of algorithmic convergence.
© Owned by the authors, published by EDP Sciences, 2016
This is an Open Access article distributed under the terms of the Creative Commons Attribution License 4.0, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
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