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The basic idea of optimization based method is to take a look at
the primary equation
as minimization
problem [Wel93]. Thus, the previous equation could be transformed into
After that, standard iterative non-linear optimization techniques
could be applied to minimize error function , where is the
goal position of end effector and is the current
position of the end effector [PFTV90].
Gradient-based optimization could be also used. This may
increase the computation cost in each iteration step, but the convergence
rate should be better and the number of iteration steps should
decrease.
Lukas Barinka
2002-03-21