Abstract
Aimed to the nonlinear equations-finding problem that only one solution is found with the Newton and quasi-Newton methods and sometime no solution is found when the iteration diverges, combining Newton-downhill method with hyper-chaotic system, hyper-chaotic Newton-downhill method based on utilizing hyper-chaotic discrete system to obtain locate initial points to find all real solutions of the nonlinear questions was proposed. Using cosine matrix method and link length constraint we establish nine variable equations of the general 6-SPS mechanism. The numerical example in forward kinematics analysis of the general 6-SPS parallel platform shows that all real solutions have been quickly obtained, and it proves the correctness and validity of the proposed method.
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Luo, Y. (2009). Hyper-chaotic Newton-Downhill Method and Its Application to Mechanism Forward Kinematics Analysis of Parallel Robot. In: Xie, M., Xiong, Y., Xiong, C., Liu, H., Hu, Z. (eds) Intelligent Robotics and Applications. ICIRA 2009. Lecture Notes in Computer Science(), vol 5928. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-10817-4_122
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DOI: https://doi.org/10.1007/978-3-642-10817-4_122
Publisher Name: Springer, Berlin, Heidelberg
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