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Inverse Kinematics for 6-DOF Serial Manipulators With Offset or Reduced Wrists via a Hierarchical Iterative Algorithm

Jing Xu, Kechen Song, Yu He, Zhipeng Dong, Yunhui Yan. Inverse Kinematics for 6-DOF Serial Manipulators With Offset or Reduced Wrists via a Hierarchical Iterative Algorithm. IEEE Access, 6:52899-52910, 2018. [doi]

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