SHIMIZU M, KAKUYA H, YOON W K, et al. Analytical inverse kinematic computation for 7-DOF redundant manipulators with joint limits and its application to redundancy resolution[J]. IEEE Transactions on Robotics, 2008, 24(5): 1131-1142.
[2]
DUBEY R V, EULER J A, BABCOCK S M. An efficient gradient projection optimization scheme for a seven-degree-of-freedom redundant robot with spherical wrist[C] // IEEE International Conference on Robotics and Automation. Philadelphia, USA, 1988: 28-36.
[3]
GOLDENBERG A, BENHABIB B, FENTON R. A complete generalized solution to the inverse kinematics of robots[J]. IEEE Journal of Robotics and Automation, 1985, 1(1): 14-20.
[4]
MAO Z, HSIA T C. Obstacle avoidance inverse kinematics solution of redundant robots by neural networks[J]. Robotica, 1997, 15(1): 3-10.
[5]
YU C, JIN M, LIU H. An analytical solution for inverse kinematic of 7-DOF redundant manipulators with offset-wrist[C] //International Conference on Mechatronics and Automation. Chengdu, China, 2012: 92-97.
[6]
杜广龙, 张平.基于人工势场的机器人遥操作安全预警域动态生成方法[J]. 机器人, 2012, 34(1): 44-49. DU Guanglong, ZHANG Ping. A method for generating dynamic security warning region in robotic teleoperation based on artificial potential field[J]. Robot, 2012, 34 (1): 44-49.
[7]
董春, 杨耕, 徐文立. 七自由度冗余仿人臂的障碍实时回避[J]. 清华大学学报:自然科学版, 2004, 44(10): 1341-1344.DONG Chun, YANG Geng, XU Wenli. Real-time collision avoidance for 7-DOF redundant anthropomorphic arm[J]. Journal of Tsinghua University: Science and Technology, 2004, 44(10): 1341-1344.
[8]
KHATIB O. Real-time obstacle avoidance for manipulators and mobile robots[J]. International Journal of Robotics Research, 1986, 5(1): 90-98.
[9]
SICILIANO B. Kinematic control of redundant robot manipulators: a tutorial[J]. Journal of Intelligent and Robotic Systems, 1990, 3(3): 201-212.
[10]
阳方平, 李洪谊, 王越超,等. 一种求解冗余机械臂逆运动学的优化方法[J]. 机器人, 2012, 34(1): 17-21.YANG Fangping, LI Hongyi, WANG Yuechao, et al. An optimization method for solving the inverse kinematics of redundant manipulator[J]. Robot, 2012, 34 (1): 17-21.
[11]
孙立宁,刘宇. 基于扩展雅可比矩阵的冗余度机器人多性能准则优化研究[J]. 机器人, 2003, 25(7): 589-592.SUN Lining, LIU Yu. Research on multiple performance criteria optimization of a redundant robot based on extended Jacobian matrix[J]. Robot, 2003, 25(7): 589-592.
[12]
DAS H, SLOTINE J E, SHERIDAN T B. Inverse kinematic algorithms for redundant systems[C] // IEEE International Conference on Robotics and Automation. Philadelphia, USA, 1988: 43-48.
[13]
XIA Y, WANG J. A dual neural network for kinematic control of redundant robot manipulators[J]. IEEE Transactions on Systems, Man, and Cybernetics-Part B: Cybernetics, 2001, 31(1): 147-154.
万克刚. 平面四连杆机构的静力分析[J]. 南昌大学学报:工科版, 1986, 8(1): 58-62.WAN Kegang. The static analysis of four-bar-mechanical in a plane[J]. Journal of Jiangxi Polytechnic University :Engineering and Technology, 1986, 8(1): 58-62.
