A Closed Loop Inverse Kinematics and Control Scheme for one Class of OffsetJoint 7DOF Redundant Manipulator This paper presents a positionbased motion control method using the closedloop inverse kinematics (CLIK) algorithm, which is used for solving one class of offset joint 7 degrees of freedom (DOF) robot. Dualarm robot is one of the research topics in the field of robotics. In the article, we designed a kind of human dualarm robot with 14DOF and studied its kinematics with one of the arms. The inverse kinematic can be solved by using the pseudoinverse matrix, and the numerical solution can be obtained. In the simulation, we adopt position  velocity scheme and at the same time consider the desired orientation as the posture limitation. This algorithm not only can accurately track the target trajectory, but also can avoid the effect of singularity points. Simulation results for one class end biasing 7DOF robot demonstrates the effectiveness of the scheme, even for singularities.

Predictive Inverse Kinematics: optimizing Future Trajectory through Implicit Time Integration and Future Jacobian Estimation This paper presents an inverse kinematics (IK) method which can control future velocities and accelerations for multibody systems. The proposed IK method is formulated as a quadratic programing (QP) that optimizes future joint trajectories. The features of the proposed IK are: (1) the evaluation of accelerations at future time instances, (2) the trajectory representation that can implicitly integrate the time integral formula into QP, (3) the computation of future Jacobian matrices based on the comprehensive theory of differential kinematics proposed in our previous work. Those features enable a stable and fast IK computation while evaluating the future accelerations. We also conducted thorough numerical studies to show the efficiency of the proposed method.