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This paper proposes kinematic optimizations of 7R humanoid arms based on the joint parameterization and the self-optimizing method. Because self-motions of the redundant robots, inverse kinematic optimizations of joint limits avoidance are discussed in this paper. Firstly, the evaluation criterion of kinematic optimizations is defined, and the self-optimizing method is proposed. Then, inverse kinematics...
This paper proposes the optimal inverse kinematic solutions of a 7R humanoid arm using the reconfiguration method and the self-optimizing method. Firstly, based on analyses of the humanoid arm with offset wrist, the reconfiguration method is proposed. Given the specified hand pose in Cartesian space, a closed-loop robot is developed by virtually connecting two ends of the humanoid arm. And then, the...
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