Fig 1.
Model of orthogonal non-spherical wrist robot.
Table 1.
DH parameters of orthogonal non-spherical wrist robot.
Fig 2.
Model of oblique non-spherical wrist robot.
Table 2.
DH parameters of oblique non-spherical wrist robot.
Fig 3.
The characteristics of the singular values.
Table 3.
Singular value comparison of singular points and non-singular points.
Fig 4.
Comparison of four methods.
Fig 5.
Number of iterations varies with k.
Fig 6.
Distribution of k_optimal and iterations number.
Table 4.
Probability of k_optimal in different intervals.
Fig 7.
Influencing factors of k_optimal.
Table 5.
Performance comparison of classification models.
Fig 8.
Regression fitting error curve of four models.
Table 6.
Performance comparison of regression models.
Fig 9.
The flowchart of the optimized method.
Table 7.
Results that meet the accuracy requirements.
Table 8.
Results that meet the accuracy requirements.
Table 9.
Performance analysis of two methods of machine learning.
Table 10.
Performance analysis before and after optimization.
Fig 10.
Simulation verification of robot.
Fig 11.
Experimental platform.