Inverse Displacement Analysis of a General 6R Manipulator Based on the Hyper-Chaotic Least Square Method

Abstract

The hyper-chaotic least square method for finding all real solutions of nonlinear equations was proposed and the inverse displacement analysis of a general 6R manipulator was completed. Applying the D-H method, a 4 × 4 matrix transform was obtained and the first type twelve constrained equations were established. Analysing the characteristics of the matrix, the second type twelve constrained equations were established by adding variables and restriction. Combining the least square method with hyper-chaotic sequences, the hyper-chaotic least square method based on utilizing a hyper-chaotic discrete system to obtain and locate initial points to find all the real solutions of the nonlinear questions was proposed. The numerical example was given for two type constrained equations. The results show that all the real solutions have been obtained, and it proves the correctness and validity of the proposed method.