Inverse Kinematics of a 7R 6-DOF Robot with Nonspherical Wrist Based on Transformation into the 6R Robot

Table 5

The computation time of the proposed algorithm and DLS method.

Method	The initial value (deg)	Computation time (ms)
The proposed method	/	64
DLS method	60, −25, 60, −30, 60, 60, 30]	60
	0, 0, 0, 0, 0, 0, 0]	182
	[−60, −25, 60, −30, 60, 60, 30]	Failure