A tetrahedron approach for a unique closed-form solution of the forward kinematics of six-dof parallel mechanisms with multiconnected joints.
Se-Kyong SongDong-Soo KwonPublished in: J. Field Robotics (2002)
Keyphrases
- closed form solutions
- parallel robot
- degrees of freedom
- joint angles
- closed form
- point correspondences
- constrained optimization
- relative pose
- special case
- end effector
- line correspondences
- human body
- parallel processing
- motion capture
- parallel implementation
- visual servoing
- object recognition
- structure from motion
- human hand
- high resolution
- brownian motion
- motion tracking
- mobile robot
- objective function
- pose estimation