Inverse Kinematics Selection Algorithm for 6-DOF Manipulator Based on Neural Network to Pass Through the Singular Point

摘要

NOMENCLATURE= position and posture vectors of the robot's end-effector =vector related with each joint angle of the robot = Jacobi matrix of partial derivatives of the robot's p osition and posture at each joint angle = rotation matrix between each coordinate system co nfigured for each link 223