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A new on-line algorithm for inverse kinematics of robot manipulators ensuring path tracking capability under joint limits.
Gianluca Antonelli
Stefano Chiaverini
Giuseppe Fusco
Published in:
IEEE Trans. Robotics Autom. (2003)
Keyphrases
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robot manipulators
inverse kinematics
objective function
learning algorithm
support vector machine svm
optimization algorithm
real time
expert systems
artificial neural networks
simulated annealing
path planning
global optimization