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Mathematical Problems in Engineering
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Mathematical Problems in Engineering
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2017
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Article
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Tab 7
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Research Article
Inverse Kinematics of a 7R 6-DOF Robot with Nonspherical Wrist Based on Transformation into the 6R Robot
Table 7
The computation time of the proposed algorithm and modified Wu’s method.
Method
Average computation time
(ms)
Maximum computation time
(ms)
The proposed method
60.3
128
Modified Wu’s method
90.6
169.9