This paper presents a novel analytic method to uniquely solve inverse kinematics of 7
degrees-of-freedom manipulators while avoiding joint limits and singularities. Two auxiliary …

This paper studies multiple inverse kinematics solutions for a 7-DOF human redundant
manipulator with a special joint configuration. A method is proposed for determining the …

This paper proposes an efficient and accuracy inverse kinematic algorithm for 7-DOF
redundant manipulators with obstacles avoidance and singularities avoidance based on the …

This paper proposes an analytical methodology of inverse kinematic computation for 7 DOF
redundant manipulators with joint limits. Specifically, the paper focuses on how to obtain all …

For decades, although the inverse kinematics (IK) problem of six degrees of freedom (DOF)
manipulator with general geometry has been solved, there is still needed an efficient and …

Seven-degree-of-freedom redundant manipulators with link offset have many advantages,
including obvious geometric significance and suitability for configuration control. Their …

Based on screw theory, a novel improved inverse-kinematics approach for a type of six-DOF
serial robot,“Qianjiang I”, is proposed in this paper. The common kinematics model of the …

Using a closed-form inverse kinematics solution for motion planning has many advantages
compared to traditional numerical approaches, most notably much faster computation times …

Closed-loop inverse kinematics (CLIK) algorithm mostly resolves the redundancy at the
velocity level. In this paper we extend the CLIK algorithm to the acceleration level to meet …

This work addresses the inverse kinematics problem for the 7 Degrees of Freedom Barrett
Whole Arm Manipulator with link offsets. The presence of link offsets gives rise to the …