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This paper aims to propose a real-time evolutionary multi-objective semi-analytical inverse kinematics (IK) algorithm (EMSA-IK) for solving the multi-objective IK of redundant manipulators.

Within EMSA-IK, the parameterization method is applied to reduce the number of optimization variables of the evolutionary algorithm and calculate semi-analytical solutions that meet high target pose accuracy. The original evolutionary algorithm is improved with the proposed adaptive search sub-space strategy so that the improved evolutionary algorithm can be used to efficiently perform global search within the parametric joint space to obtain the global optimal parametric joint angles that satisfy multi-objective constraints.

Ablation experiments show the effectiveness of the improved strategy used for evolutionary algorithms. Comparative experiments on different manipulators demonstrate the advantages of EMSA-IK in terms of generalizability and balancing multiple objectives, for example, motion continuity, joint limits and obstacle avoidance. Real-world experiments further validate the effectiveness of the proposed algorithm for real-time application.

The semi-analytical IK solution that simultaneously satisfies high target pose accuracy and multi-objective constraints can be obtained in real time. Compared to existing semi-analytical IK algorithms, the proposed algorithm achieves obstacle avoidance for the first time. The proposed algorithm demonstrates superior generalizability, applicable to not only redundant manipulators with revolute joints but also those with prismatic joints.

Geographical Indication (GI) products represent a distinct association between a product and its specific geographic origin. While scholars have acknowledged the impact of GI products on destination marketing, there exists a dearth of research concerning the underlying mechanism through which the perceived value of GI products influences consumers' intention to visit the region of origin.

This study utilizes the cognitive appraisal theory as a basis for constructing a conceptual framework to investigate the association between the perceived value of GI products, emotional reactions and destination brand awareness.

By placing particular emphasis on the diverse impacts of perceived value on tourists' affective responses and travel intentions, the results of this research offer significant contributions to the field of destination marketing.

A deeper understanding of the perceived value of GI products can enable destination marketers to effectively attract prospective tourists and foster a stronger connection between tourists and the regions of origin.