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 …

Multibody dynamics of vehicle systems can be simulated in real time using semi-recursive-
based formulations and their various versions, which are normally described in terms of …

Efficiently solving inverse kinematics (IK) of robot manipulators with offset wrists remains a
challenge in robotics due to noncompliance with Pieper criteria. In this paper, an improved …

An existing problem in the robotic field is to solve the inverse kinematics (IK) problem of
redundant robot with high speed and high precision. A novel IK optimization method based …

The inverse kinematics problems of robots are usually decomposed into several Paden—
Kahan subproblems based on the product of exponential model. However, the simple …

In order to ensure the safe of underground cable tunnels, it is necessary to regularly inspect
the lines and equipment in the tunnel. At present, most of the existing tunnel inspection …

In this study, a randomness-enhanced grey wolf optimizer (REGWO) is proposed to
efficiently solve the inverse kinematics (IK) of redundant manipulators. REGWO is an …

Dynamics of complex mechanical systems can be modeled and solved efficiently, often even
in faster-than-real-time by employing semi-recursive formulations and their various versions …

For the 6R robot, there is no analytical solution for some configurations, so it is necessary to
analyse inverse kinematics (IK) by the general solution method, which cannot achieve high …

为了提高轮毂加工的质量和效率, 设计并研制手腕偏置的磨抛机器人, 该手腕机构关节5
可实现360 旋转, 提高了末端灵活性. 但机器人不满足Pieper 准则, 逆运动学方程复杂 …