Position-based kinematics for 7-DoF serial manipulators with global configuration control, joint limit and singularity avoidance

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Title
Position-based kinematics for 7-DoF serial manipulators with global configuration control, joint limit and singularity avoidance
Authors
Keywords
Analytic inverse kinematics, Configuration control, Joint limit avoidance, Singularity avoidance
Journal
MECHANISM AND MACHINE THEORY
Volume 121, Issue -, Pages 317-334
Publisher
Elsevier BV
Online
2017-11-07
DOI
10.1016/j.mechmachtheory.2017.10.025

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