{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,11,18]],"date-time":"2025-11-18T05:20:30Z","timestamp":1763443230417,"version":"3.45.0"},"reference-count":28,"publisher":"MDPI AG","issue":"11","license":[{"start":{"date-parts":[[2025,11,16]],"date-time":"2025-11-16T00:00:00Z","timestamp":1763251200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100012166","name":"National Key R&amp;D Program of China","doi-asserted-by":"publisher","award":["No. 2022YFB4700601 No. 2022YFB4700602"],"award-info":[{"award-number":["No. 2022YFB4700601 No. 2022YFB4700602"]}],"id":[{"id":"10.13039\/501100012166","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Symmetry"],"abstract":"<jats:p>To enhance the operational performance of mobile manipulators in textile workshops and address the difficulty of inverse kinematics (IK) for this class of redundant manipulators, this paper leverages the robot\u2019s structural symmetries and proposes a chaotic-mutation particle swarm optimization (CMPSO)-based IK algorithm for mobile manipulators, thus simplifying the solution process and ensuring balanced exploration of the search space. First, the coordinate\u2013transformation relationships of the mobile manipulator are analyzed to establish its forward kinematic model. Then, a multi-objective constrained IK model is formulated according to the manipulator\u2019s operating characteristics. The model incorporates a pose-error function, the \u2018compliance\u2019 principle, and joint-limit avoidance. To solve this model accurately, we refine the population initialization and boundary-violation handling of the particle swarm algorithm and introduce an asymmetric mechanism via an adaptive mutation strategy, culminating in a CMPSO-based IK solver. On this basis, single-pose IK tests and trajectory-planning experiments are conducted, and simulation results verify the effectiveness and stability of the proposed algorithm.<\/jats:p>","DOI":"10.3390\/sym17111980","type":"journal-article","created":{"date-parts":[[2025,11,17]],"date-time":"2025-11-17T14:04:07Z","timestamp":1763388247000},"page":"1980","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":0,"title":["An Inverse Kinematics Solution for Mobile Manipulators in Textile Workshops Based on an Improved Particle Swarm Optimization"],"prefix":"10.3390","volume":"17","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-3821-3461","authenticated-orcid":false,"given":"Wei","family":"Xie","sequence":"first","affiliation":[{"name":"School of Information Science and Engineering, Harbin Institute of Technology at WeiHai, Weihai 264209, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Zhongxu","family":"Wang","sequence":"additional","affiliation":[{"name":"School of Information Science and Engineering, Harbin Institute of Technology at WeiHai, Weihai 264209, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jiachen","family":"Ma","sequence":"additional","affiliation":[{"name":"School of Information Science and Engineering, Harbin Institute of Technology at WeiHai, Weihai 264209, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jun","family":"Chen","sequence":"additional","affiliation":[{"name":"School of Ocean Engineering, Harbin Institute of Technology at Weihai, Weihai 264209, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Xingjian","family":"Xie","sequence":"additional","affiliation":[{"name":"School of Information Science and Engineering, Harbin Institute of Technology at WeiHai, Weihai 264209, China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2025,11,16]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"136","DOI":"10.1016\/j.jclepro.2023.136184","article-title":"Decision-making in the context of Industry 4.0: Evidence from the textile and clothing industry","volume":"391","author":"Nouinou","year":"2023","journal-title":"J. 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