An Algorithm for the Solution of Inverse Kinematics Problems Based on an Interval Method
نویسنده
چکیده
In this paper we describe a general procedure to solve the posi-tional inverse kinematics problem using an interval method. The classical interval Newton method is used together with speciic developed interval cuts over the closure equations. The algorithm uses a basic branch-and-bound procedure to obtain all solutions of the inverse positional problem of arbitrary single-loop kinematic chains. Some preliminary examples are given, although still much improvement can be done in the heuristics involved and the code optimization, leaving plenty of room for future improvements .
منابع مشابه
A novel computational procedure based on league championship algorithm for solving an inverse heat conduction problem
Inverse heat conduction problems, which are one of the most important groups of problems, are often ill-posed and complicated problems, and their optimization process has lots of local extrema. This paper provides a novel computational procedure based on finite differences method and league championship algorithm to solve a one-dimensional inverse heat conduction problem. At the beginning, we u...
متن کاملA numerical Algorithm Based on Chebyshev Polynomials for Solving some Inverse Source Problems
In this paper, two inverse problems of determining an unknown source term in a parabolic equation are considered. First, the unknown source term is estimated in the form of a combination of Chebyshev functions. Then, a numerical algorithm based on Chebyshev polynomials is presented for obtaining the solution of the problem. For solving the problem, the operational matrices of int...
متن کاملGGMRES: A GMRES--type algorithm for solving singular linear equations with index one
In this paper, an algorithm based on the Drazin generalized conjugate residual (DGMRES) algorithm is proposed for computing the group-inverse solution of singular linear equations with index one. Numerical experiments show that the resulting group-inverse solution is reasonably accurate and its computation time is significantly less than that of group-inverse solution obtained by the DGMRES alg...
متن کاملUsing Pattern Search Algorithm and Finite Element Method to Detect Rotor Cracks
The vibration pattern of a rotor system reflects the mechanical parameter changes in the system. Hence, the use of vibration monitoring is considered as a possible means of detecting the presence and growth of the cracks. In this paper, a pattern search based method for shaft crack detection is proposed and described which formulates the shaft crack detection as an optimization problem by means...
متن کاملA New Solution for the Cyclic Multiple-Part Type Three-Machine Robotic Cell Problem based on the Particle Swarm Meta-heuristic
In this paper, we develop a new mathematical model for a cyclic multiple-part type threemachine robotic cell problem. In this robotic cell a robot is used for material handling. The objective is finding a part sequence to minimize the cycle time (i.e.; maximize the throughput) with assumption of known robot movement. The developed model is based on Petri nets and provides a new method to calcul...
متن کامل