This paper deals with the problem of inverting a nonlinear map. The proposed solution consists in a nonlinear state observer, which mimics a Newton-like algorithm, that allows to determine the inverse of a given diffeomorphism in finite time. The results are illustrated by application to the inverse kinematics of a three DOF planar manipulator.
A Newton-like algorithm to compute the inverse of a nonlinear map that converges in finite time
Possieri Corrado;
2018
Abstract
This paper deals with the problem of inverting a nonlinear map. The proposed solution consists in a nonlinear state observer, which mimics a Newton-like algorithm, that allows to determine the inverse of a given diffeomorphism in finite time. The results are illustrated by application to the inverse kinematics of a three DOF planar manipulator.File in questo prodotto:
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