Inverse Kinematics of a 7-DOF Spraying Robot with 4R 3-DOF Non-spherical Wrist

In this paper, an Inverse Kinematics (IK) algorithm combining the analytical method and the numerical one is proposed to solve the IK problem of a 7-DOF spraying robot with 4R 3-DOF non-spherical wrist. Firstly, the 7-DOF spraying robot is transformed into a 7-DOF robot with 3R spherical wrist and t...

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