| Autor: |
Amici Cinzia, Cappellini Valter |
| Jazyk: |
English<br />French |
| Rok vydání: |
2016 |
| Předmět: |
|
| Zdroj: |
MATEC Web of Conferences, Vol 53, p 01060 (2016) |
| Druh dokumentu: |
article |
| ISSN: |
2261-236X |
| DOI: |
10.1051/matecconf/20165301060 |
| Popis: |
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. |
| Databáze: |
Directory of Open Access Journals |
| Externí odkaz: |
|
