Yinfeng Geng

Research on Inverse Kinematics of Redundant Robotic Arms Based on Flexibility Index

This letter proposes an Improved Quantum Particle Swarm Optimization algorithm based on Directional Maneuverability constrained by Isotropic Indexes (DMII-IQPSO). It can solve the problems of large inverse kinematics solution errors and the inability to solve singular configurations of 7-Degree of F