In order to solve the inverse kinematics (IK) of complex manipulators efficiently, a hybrid
equilibrium optimizer slime mould algorithm (EOSMA) is proposed. Firstly, the concentration …

A systematic and unified kinematic modelling method for a new class of 6R robotic arms is
investigated, which separates the coupled joint variables without raising degrees. To begin …

This work presents a new optimization-based solution to the Inverse Kinematics Problem
(IKP) of legged robots, including a modified Walking Pattern Generator that automatically …

Robotic manipulation in surgical applications often demands the surgical instrument to pivot
around a fixed point, known as remote center of motion (RCM). The RCM constraint ensures …

Inverse kinematics (IK) is an important and challenging problem in the operation of industrial
manipulators. This study proposes a simple IK calculation scheme for an industrial serial …

Robotic arms with high precision play a crucial role in industries like aerospace and
intelligent manufacturing. Currently, industrial robotic arms typically adopt spherical wrists to …

Real-time manipulability maximization is a common sub-task for the a redundant
manipulator. However, due to the heavy computational burden and non-convex …

This paper is devoted to proposing a feedback trajectory tracking control method for
hydraulically driven rock drilling robotic manipulators. The rock drilling robot has a large …

Purpose This paper aims to propose a real-time evolutionary multi-objective semi-analytical
inverse kinematics (IK) algorithm (EMSA-IK) for solving the multi-objective IK of redundant …

In this research, a biped robot is programmed to learn to walk using genetic algorithms. The
biped robot has the ability to rise after a fall. The system is made according to human …