A Position-Level Global Optimization Inverse Kinematic Solution Algorithm for Dual Redundant Robots Based on Motion Characteristics

Figure 10

comprehensive constraint and relationship.

(a) Relationship-1

(b) Relationship-2

(c) Relationship-3

(d) Relationship-4

(e) Relationship-5

(f) Relationship-6

(g) Relationship-7

(h) Relationship-8

(i) Relationship-9

(j) Relationship-10