In this study, we propose a practical approach for calculating the analytical inverse kinematic
solution for a seven-degrees of freedom (7-DOF) space manipulator with joint and attitude …

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 …

Most space manipulators are 7-degree-of-freedom (7-DOF) offset manipulators. It is difficult
to find the analytical solution with arm angle parameterization. In this paper, an efficient …

This paper proposes a novel parameterization analytical method to solve the inverse
kinematics of a redundant space manipulator, which has link offsets at the shoulder, elbow …

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 …

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 …

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

An obstacle avoidance and path planning algorithm for a multi-joint manipulator in a space
robot is presented in this paper. In this paper, the end-effector of the manipulator is used to …

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 a general numerical methodology of inverse kinematics computation
for 7-degree-of-freedom offset manipulators based on arm angle parameterization. First …