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An analytical inverse kinematics solution with joint limits avoidance of 7-DOF anthropomorphic manipulators without offset.
Xinyang Tian
Qinhuan Xu
Qiang Zhan
Published in:
J. Frankl. Inst. (2021)
Keyphrases
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inverse kinematics
robot arm
motion planning
joint angles
degrees of freedom
end effector
path planning
position and orientation
control law
mobile robot
robotic systems
pose estimation
dynamical systems
humanoid robot
nonlinear systems
robot manipulators