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

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 are proposed to create the inverse kinematics model of the UR10 robot: the Sequential Quadratic Programming (SQP) algorithm and the Back Propagation-Sequential Quadratic Programming (BP-SQP) algorithm. The SQP algorithm is an iterative algor...

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Bibliographic Details
Main Authors: Yizhe Huang, Jiaen Liu, Xuwei Zhang, Jun Wang, Xiao Li, Xikai Tu, Shuisheng Chen, Chenlin Wang, Qibai Huang
Format: Article
Language:English
Published: MDPI AG 2023-02-01
Series:Applied Sciences
Subjects:
inverse kinematics
the SQP algorithm
the BP-SQP algorithm
Online Access:https://www.mdpi.com/2076-3417/13/5/3009

Internet

https://www.mdpi.com/2076-3417/13/5/3009

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