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A General Robot Inverse Kinematics Solution Method Based on Improved PSO Algorithm
2021
IEEE Access
Robots whose geometric structure does not meet the Pieper criterion are called general robots. For the inverse kinematic operation of general robots, the closed solution method cannot be solved, and the numerical solution calculation amount is too large and the singular position cannot be calculated. To solve this problem, this paper proposes an inverse kinematics calculation method based on improved particle swarm optimization (PSO) algorithm and applicable to general robots. In order to avoid
doi:10.1109/access.2021.3059714
fatcat:cosyd6nn3rd7var47hjq2i4fee