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- W2392232912 abstract "It proposes a real- time inverse kinematics algorithm with high accuracy based on the kinematics equation of manipulator with the research object of self- developed NGR01 type four joints manipulator. This reduces the order of matrix equation from 4 to 2 through symbolic calculating,thus eliminates extraneous roots while improving the algorithmic speed. Eigen- decomposition is adopted to get roots from target matrix,which ensures the accuracy of the solutions. The correctness of the algorithm is verified by Matlab and Maple mathematical software. It uses C + + language and CLAPACK math library to realize the simulation of kinematics algorithm. Experimental results indicate that the presented algorithm can acquire 2 inverse kinematics solutions in a time of 0. 67 ms,so the proposed algorithm is faster and higher accuracy than the traditional inverse transformation method with the same experiment platform." @default.
- W2392232912 created "2016-06-24" @default.
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- W2392232912 date "2014-01-01" @default.
- W2392232912 modified "2023-09-25" @default.
- W2392232912 title "Inverse Kinematics Algorithm for Four Joint Manipulator Based on Matrix Decomposition" @default.
- W2392232912 hasPublicationYear "2014" @default.
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