2025
A Novel Method for Inverse Kinematics of Offset Wrist Manipulators Using Improved Differential Evolution Algorithm With Quaternion
RA-L 2025
Inverse kinematics (IK) is at the core of manipulator control theory, with its solution accuracy directly impacting the robot's performance in executing tasks. This is particularly true for complex offset wrist manipulators (OWM), where existing evolutionary computation methods often face limitation