Inverse Kinematics for 6-DOF Serial Manipulators With Offset or Reduced Wrists via a Hierarchical Iterative Algorithm
It is still a challenge to accurately and efficiently solve inverse kinematics (IK) using six-degrees-of-freedom (DOF) serial manipulators with offset or reduced wrists, which is mainly due to the complex, highly nonlinear, and coupled IK equations. In order to solve this problem, an efficient IK al...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
IEEE
2018-01-01
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| Series: | IEEE Access |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/8466783/ |