本文提出了Kinova Gen 3 Lite机器人运动学逆问题的多项式解法。该串联机器人基于6 R运动链，并且没有腕部分区。我们首先从正运动学方程提供的位置和方向的末端执行器，最后，一元多项式方程作为第一关节变量$θ_{1}$的函数。剩余的关节变量通过回代计算。因此，对于单变量方程的每个根，获得关节位置的唯一集合。数值例子，在ROS（机器人操作系统）模拟，给出验证结果，这是比较与MoveIt！and with the actual实际robot机器人.还提出了一个程序来选择一个最佳的姿态的机器人。
英文摘要：
A polynomial solution to the inverse kinematic problem of the Kinova Gen3 Lite robot is proposed in this paper. This serial robot is based on a 6R kinematic chain and is not wrist-partitioned. We first start from the forward kinematics equation providing the position and orientation of the end-effector, finally, the univariate polynomial equation is given as a function of the first joint variable $θ_{1}$. The remaining joint variables are computed by back substitution. Thus, an unique set of joint position is obtain for each root of the univariate equation. Numerical examples, simulated in ROS (Robot Operating System), are given to validate the results, which are compared to the coordinates obtained with MoveIt! and with the actual robot. A procedure to choose an optimum posture of the robot is also proposed.
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Department of Mechanical Engineering, Virginia Tech（弗吉尼亚理工大学机械工程系）；California Institute of Technology（加州理工学院）；School of Neuroscience, Virginia Tech（弗吉尼亚理工大学神经科学学院）
Kinova Gemini: Interactive Robot Grasping with Visual Reasoning and Conversational AI
Southern University of Science and Technology（南方科技大学）；Harbin Institute of Technology（哈尔滨工业大学）；The Chinese University of Hong Kong（香港中文大学）；Shenzhen Research Institute, The Chinese University of Hong Kong（香港中文大学深圳研究院）
XFlowMP: Task-Conditioned Motion Fields for Generative Robot Planning with Schrodinger Bridges
Mohamed bin Zayed University of Artificial Intelligence (MBZUAI)（莫扎德·本·扎耶德人工智能大学）；Automation & Control Institute (ACIN), TU Wien（自动化与控制研究所）；Austrian Institute of Technology (AIT) GmbH（奥地利技术研究所）
Neural Minimum-Distance Estimation for Collision-Aware Operation of Multi-Arm Laparoscopy Surgical Robots Through Learning-from-Simulation
Surgical Performance Enhancement and Robotics (SuPER) Centre, Department of Surgery（外科性能增强与机器人中心（SuPER）中心，外科部）；The Wilfred and Joyce Posluns Centre for Image Guided Innovation & Therapeutic Intervention (PCIGITI)（威廉与乔伊斯·波斯伦中心（PCIGITI）影像引导创新与治疗干预中心）；The Hospital for Sick Children (SickKids)（儿童医院（SickKids））
Prognostic Framework for Robotic Manipulators Operating Under Dynamic Task Severities
School of Industrial and Systems Engineering, Georgia Institute of Technology（工业与系统工程系，佐治亚理工学院）；Department of Mechanical and Aerospace Engineering, University of California Davis（机械与航空航天工程系，加州大学戴维斯分校）
