具有关节限位的7R仿人机械臂逆运动学优化
霍希建, 刘伊威, 姜力, 夏晶, 刘宏

Inverse kinematic optimization of 7R humanoid arm with joint limits
HUO Xi-jian, LIU Yi-wei, JIANG Li, XIA Jing, LIU Hong
臂角计算流程图