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AI-NN-PR】:本文提出了一种基于单纯形方法的机械手位姿逆解的分步求解方法。这种方法充分利用了单纯形法 大范围收敛和计算简单的特性,在不计算目标函数一阶导数的情况下,确定极值点的查找方向与步长,多次迭代,直至目标函数满足所给条件。最后,用一个六自由度的肘机器人验证了该求解方法的有效性。- This paper presents a simplex method based on robot position and orientation of th
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