Solving the Inverse Kinematics of A Series Robotic Arm Based on Gradient Descent
The gradient descent method was applied to solve the inverse kinematics of a robotic arm,which solved the problem of solving the inverse kinematics of a series of robotic arms with different degrees of freedom;By utilizing the intermediate solutions during the solving process,the trajectory planning task was completed while ensuring system performance;In response to the problem of poor trajectory obtained through gradient descent,an improved gradient descent was adopted to optimize the trajectory. We built a simulation platform using OpenGL and C++to simulate six degree of freedom and seven degree of free-dom robotic arms. The convergence accuracy of the algorithm can reach 0.01 mm. The experimental results show that using gradient descent for solving inverse kinematics of robotic arms is practical.
万方数据
维普
