Numerical Study on Inverse Kinematic Analysis of 5R Serial Robot

摘要

This paper makes an intensive study for the problem of the inverse kinematic analysis of the 5R serial mechanism. A generalized modeling method is introduced and adaptive generic algorithm is used in the numerical study for solving the non-linear higher coupling functions. Result shows that this approach has advantage of intrinsic parallelism characteristics, by calculating the maximun common factor of the target function groups, computing efficiency is greatly increased, compared with normal search algorithm, it has evidently reduced the number of derived functions and consequently the difficulty and complexity are greatly decreas. We also noticed that the accelerate ratio increases with the number of workstations increasing, but decrease when the number of workstations increase to 16, we think that the communication bottleneck domains the computing efficiency of this algorithm as the number of nodes exceed certain extent.