{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,7,8]],"date-time":"2026-07-08T16:33:07Z","timestamp":1783528387580,"version":"3.55.0"},"reference-count":28,"publisher":"Cambridge University Press (CUP)","issue":"7","license":[{"start":{"date-parts":[[2022,1,14]],"date-time":"2022-01-14T00:00:00Z","timestamp":1642118400000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2022,7]]},"abstract":"<jats:title>Abstract<\/jats:title><jats:p>Efficiently solving inverse kinematics (IK) of robot manipulators with offset wrists remains a challenge in robotics due to noncompliance with Pieper criteria. In this paper, an improved method to solve the IK for 6-DOF robot manipulators with offset wrists is proposed. This method is based on the Newton iteration technique, but it does not require a selection of initial estimation of joint variables. The solution is divided into two parts: the first part is to reconstruct a simplified structure with analytical IK solution, and the second part is to obtain a numerical solution by iteration. Further, a robot manipulator HSR-BR606 with an offset wrist is used as an example to specifically elaborate the mathematical procedure of the method and to investigate the algorithm in terms of accuracy, efficiency, and application of motion planning. A comparative experiment is conducted with a typical IK algorithm, which demonstrates a higher accuracy and shorter calculation time of the proposed method. The mean calculation time for a single IK solution required for this algorithm is only 4% of the comparison algorithm.<\/jats:p>","DOI":"10.1017\/s0263574721001648","type":"journal-article","created":{"date-parts":[[2022,1,26]],"date-time":"2022-01-26T06:53:45Z","timestamp":1643180025000},"page":"2275-2294","source":"Crossref","is-referenced-by-count":20,"title":["An improved inverse kinematics solution for 6-DOF robot manipulators with offset wrists"],"prefix":"10.1017","volume":"40","author":[{"given":"Xing","family":"Zhou","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-4404-4473","authenticated-orcid":false,"given":"Yaoqi","family":"Xian","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Yuanhao","family":"Chen","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Tongshu","family":"Chen","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Lin","family":"Yang","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Simin","family":"Chen","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Jian","family":"Huang","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"56","published-online":{"date-parts":[[2022,1,14]]},"reference":[{"key":"S0263574721001648_ref15","doi-asserted-by":"publisher","DOI":"10.1109\/87.294335"},{"key":"S0263574721001648_ref25","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-32552-1"},{"key":"S0263574721001648_ref4","doi-asserted-by":"publisher","DOI":"10.1177\/027836498300200103"},{"key":"S0263574721001648_ref3","volume-title":"The Kinematics of Manipulators Under Computer Control","author":"Pieper","year":"1969"},{"key":"S0263574721001648_ref20","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2005.11.005"},{"key":"S0263574721001648_ref13","doi-asserted-by":"publisher","DOI":"10.1016\/S1474-6670(17)61347-8"},{"key":"S0263574721001648_ref12","doi-asserted-by":"publisher","DOI":"10.1177\/027836498500400203"},{"key":"S0263574721001648_ref17","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2018.2870332"},{"key":"S0263574721001648_ref2","volume-title":"Introduction to Robotics: Mechanics and Control","author":"Craig","year":"2005"},{"key":"S0263574721001648_ref11","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2014.01.008"},{"key":"S0263574721001648_ref7","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2017.2773127"},{"key":"S0263574721001648_ref24","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2020.104180"},{"key":"S0263574721001648_ref22","doi-asserted-by":"publisher","DOI":"10.1016\/j.asoc.2020.106074"},{"key":"S0263574721001648_ref6","article-title":"Inverse kinematics solutions for industrial robot manipulators with offset wrists","volume":"38","author":"Kucuk","year":"1983\u20131999 (2014","journal-title":"Appl. Math. Model."},{"key":"S0263574721001648_ref10","volume-title":"International Design Engineering Technical Conferences and Computers and Information in Engineering Conference","author":"Trinh","year":"2015"},{"key":"S0263574721001648_ref21","first-page":"468","volume-title":"Vehicle and Automotive Engineering","author":"Ghafil","year":"2020"},{"key":"S0263574721001648_ref16","doi-asserted-by":"publisher","DOI":"10.15837\/ijccc.2012.3.1387"},{"key":"S0263574721001648_ref19","unstructured":"[19] Karlra, P. and Prakash, N. R. , \u201cA Neuro-Genetic Algorithm Approach for Solving the Inverse Kinematics of Robotic Manipulators,\u201d SMC\u201903 Conference Proceedings. 2003 IEEE International Conference on Systems, Man and Cybernetics. Conference Theme-System Security and Assurance (Cat. No. 03CH37483) (IEEE, 2003) pp. 1979\u20131984."},{"key":"S0263574721001648_ref18","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2004.09.010"},{"key":"S0263574721001648_ref14","doi-asserted-by":"publisher","DOI":"10.1115\/1.3143843"},{"key":"S0263574721001648_ref23","doi-asserted-by":"publisher","DOI":"10.1109\/ICCIS.2017.8274804"},{"key":"S0263574721001648_ref8","doi-asserted-by":"publisher","DOI":"10.1007\/s11633-018-1115-1"},{"key":"S0263574721001648_ref1","unstructured":"[1] Aristidou, A. and Lasenby, J. , Inverse kinematics: A review of existing techniques and introduction of a new fast iterative solver, Technical Report, 2009."},{"key":"S0263574721001648_ref26","doi-asserted-by":"publisher","DOI":"10.1109\/ICMA.2013.6617895"},{"key":"S0263574721001648_ref5","unstructured":"[5] S. KuCuk and Z. Bingul, \u201cThe Inverse Kinematics Solutions of Industrial Robot Manipulators,\u201d Proceedings of the IEEE International Conference on Mechatronics, 2004. ICM\u201904 (IEEE, 2004) pp. 274\u2013279."},{"key":"S0263574721001648_ref9","doi-asserted-by":"publisher","DOI":"10.1080\/01691864.2019.1636714"},{"key":"S0263574721001648_ref28","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-642-20144-8"},{"key":"S0263574721001648_ref27","volume-title":"Theoretical Kinematics","author":"Bottema","year":"1990"}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574721001648","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2022,6,16]],"date-time":"2022-06-16T10:58:51Z","timestamp":1655377131000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574721001648\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2022,1,14]]},"references-count":28,"journal-issue":{"issue":"7","published-print":{"date-parts":[[2022,7]]}},"alternative-id":["S0263574721001648"],"URL":"https:\/\/doi.org\/10.1017\/s0263574721001648","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[2022,1,14]]}}}