An analytical inverse kinematics solution with joint limits avoidance of 7-DOF anthropomorphic manipulators without offset

DOI10.1016/J.JFRANKLIN.2020.11.020zbMath1458.93179OpenAlexW3107603356MaRDI QIDQ1996570

Qiang Zhan, Xinyang Tian, Qinhuan Xu

Publication date: 25 February 2021

Published in: Journal of the Franklin Institute (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/j.jfranklin.2020.11.020

zbMATH Keywords

7 degree-of-freedomanthropomorphic manipulatorsinverse kinematics solutionsself-adaptive particle swarm optimization algorithm

Mathematics Subject Classification ID

Approximation methods and heuristics in mathematical programming (90C59) Automated systems (robots, etc.) in control theory (93C85)

Cites Work

• Automatic Supervisory Control of the Configuration and Behavior of Multibody Mechanisms

This page was built for publication: An analytical inverse kinematics solution with joint limits avoidance of 7-DOF anthropomorphic manipulators without offset