Due to the highly nonlinear and complex nature of the manipulator kinematic equations, the solution of the inverse problem is difficult to achieve and it
is difficult to guarantee in real-time.A new method for computing solutions to the inverse kinematics of robotic manipulators was developed herein.The proposed method was
based on an EM algorithm,by randomly sampling points from the feasible region, similar to attraction-repulsion mechanism of the electromagnetism theory,the particles rapidly converge to optimal solution.Moreover,approximate optimal solution derived by EM was used for the initial guesses value of variable metric method to search the exact solution. Nevertheless, the exact optimal step size in search is usually difficult to achieve.For this problem, approximate formulas for calculating were derived based on motion differential equation of robot when step size was sufficiently small.Finally,some examples were taken to verify the effectiveness of the algorithm.
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