Solution of Inverse Kinematics for 6R Robots Based on Combinatorial Optimization Algorithm#br#
JI Yangzhen, HOU Li, LUO Lan, LUO Pei, LIU Xubin, LIANG Shuang
China Mechanical Engineering . 2021, (10): 1222 -1232 .  DOI: 10.3969/j.issn.1004-132X.2021.10.011