Hybrid Taguchi DNA Swarm Intelligence for Optimal Inverse Kinematics Redundancy Resolution of Six-DOF Humanoid Robot Arms

Table 1

D-H parameters of the six-DOF humanoid robot arm.

𝑖	𝜃𝑖	𝑑𝑖	𝑎𝑖	𝛼𝑖	𝜃𝑖,min<𝜃𝑖<𝜃𝑖,max
1	90°	0	𝐿0 (mm) 142.3	−90°	−130^∘<𝜃1<130^∘
2	90°	𝐿1 (mm) 145	0	−90°	−80^∘<𝜃2<80^∘
3	−90°	𝐿2 (mm) 120	0	−90°	−130^∘<𝜃3<130^∘
4	0°	𝐿3 (mm) 141	0	90°	−170^∘<𝜃4<−60^∘
5	0°	𝐿4 (mm) 92	0	−90°	−130^∘<𝜃5<130^∘
6	90°	𝐿5 (mm) 172	0	−90°	−140^∘<𝜃6<−70^∘