Numerical robot kinematics based on stochastic and molecular simulation methods
- 1 May 1996
- journal article
- research article
- Published by Cambridge University Press (CUP) in Robotica
- Vol. 14 (3), 329-337
- https://doi.org/10.1017/s0263574700019640
Abstract
SUMMARY Multilink robot arms are geometrically similar to chain molecules. We investigate the performance of molecular simulation methods, combined with stochastic methods for optimization, when applied to problems of robotics. An efficient and flexible algorithm for solving the inverse kinematic problem for redundant robots in the presence of obstacle's (and other constraints) is suggested. This “Constrained Kinematics/Stochastic Optimization” (CKSO) method is tested on various standard problems.Keywords
This publication has 1 reference indexed in Scilit:
- The Monte Carlo MethodJournal of the American Statistical Association, 1949