The inverse kinematics problem of spatial 4P3R robot manipulator by the homotopy continuation method with an adjustable auxiliary homotopy function Original Research Article

In this paper, the concept of an adjustable auxiliary homotopy function for the homotopy continuation method is presented. By means of adjusting the auxiliary function, we can solve non-linear equations and guarantee the solutions exactly without divergence rather than the traditional numerical methods such as the Newton–Raphson method and so on.