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The inverse kinematics problem of a kind of humanoid manipulator with 7 rotating DOFs(degrees of freedom) is solved with a geometrical method,and the best solution in the space of the joint angles corresponding to the end-effector's given position and posture is searched with specific optimizing index.This method has no theoretical error but a sufficiently fast solving speed.It is propitious for the online real-time kinetic control of the manipulator.
Chen et al. (Sun,) studied this question.