Description: This paper presents a simplex method based on robot position and orientation of the sub-step inverse solution method. This method takes advantage of a wide range of simplex method convergence and easy to compute the characteristics of the objective function without calculating the first derivative of the situation, determine the extreme point to find the direction and step length, multiple iterations, until the objective function to meet the given the conditions. Finally, a six-degree of freedom elbow robot validate the solution method.
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