An Efficient Computational Approach for Inverse Kinematics Analysis of the UR10 Robot with SQP and BP-SQP Algorithms

Two algorithms that are distinct from the closed algorithm proposed to create inverse kinematics model of UR10 robot: Sequential Quadratic Programming (SQP) and Back Propagation-Sequential (BP-SQP) algorithm. The SQP is an iterative in which fundamental tenet joint’s total rotation radian should be at a minimum when industrial robot reaches target attitude. With this tenet, establishes robot. Since overly reliant on initial values, deviations occur easily solution speed, accuracy undermined. To assuage disadvantage algorithm, BP-SQP incorporating neural network introduced optimize values. results show relies excessively values has narrow range applications. eliminates limitations time complexity greatly reduced. Subsequently, effectiveness verified. can significantly reduce operation compared with faster but requires certain number samples as prerequisite.