A Geometrical Method for Inverse Kinematics of a Kind of Humanoid Manipulator

The inverse kinematics problem of a kind of humanoid manipulator with 7 rotating DOFs (degrees of freedom) is solved with a geometrical method, and the best solution in the space of the joint angles corresponding to the end-effector's given position and posture is searched with specific optimizing index. This method has no theoretical error but a sufficiently fast solving speed. It is propitious for the online real-time kinetic control of the manipulator.