Inverse Kinematics Analysis of a 6-DOF Manipulator Using Spherical Geometry Method
LIU Qunpo1,3 (刘群坡), LIU Guanghui1∗ (刘广辉), FEI Shumin2,3 (费树岷), WANG Haixing1 (王海星), ZHANG Jianjun1,3 (张建军)
J Shanghai Jiaotong Univ Sci . 2022, (5): 680 -687 .  DOI: 10.1007/s12204-022-2425-6