Research Article
Application of Improved BQGA in Robot Kinematics Inverse Solution
Table 1
Connecting rod parameters of PUMA560.
| | (rad) | (m) | (m) | (rad) | Joint angle range(rad) |
| 1 | 0 | 0 | 0 | ω1 | -8/9 ~8/9 | 2 | - | 0 | d2 | ω2 | -5/4 ~π/4 | 3 | 0 | a2 | 0 | ω3 | -/4 ~5/4 | 4 | - | a3 | d4 | ω4 | -11/18 ~17/18 | 5 | | 0 | 0 | ω5 | -5/9 ~5/9 | 6 | - | 0 | 0 | ω6 | -133/90 ~133/90 |
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