There is a journal in the compression package, which implements the inverse algorithm in the journal. The manipulator is a 7-DOF humanoid manipulator, and the Mathematica version is 11.3.

Filename	Size	Update
基于自运动的仿人七自由度机械臂逆解算法.pdf	313643	2018-10-05
自旋转法求逆解 精简版.nb	1494290	2018-12-11

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