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#### hariharan82

##### New member

- Aug 14, 2013

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My name is Hari and i am new to this forum. I am currently working on a research problem using Newton rhapson method to find solution for a system of non-linear functions. The precise application is Inverse Kinematics of manipulators. However, i have three non linear equations function of three variables. the equations represent location of a point in a robot. i need to find the three variables that will satisfy the given location of the point.

I have a certain trajectory for the point in the robot. i need to solve for the variables at every point in the trajectory using the NR method. the NR works for 90% of the points but has some spots where it fails. These points are generated very close to each other. So the initial condition for the NR is the solution from the previous point. i am not able to understand why the NR method fails at certain spots and not everywhere else. I would like some help with regards to this as i have spent significant amount of time with no solution. Please let me know if you need any other information to make this as clear as possible. I am sure the problem is vague now.

thanks

Hari