Inverse kinematic solution of a 7-DOF robot with a telescopic forearm based on Joint Limit and inertia Matrix fluctuation, 50-59.
Yutian WangJiahao QiuJun WuJinsong WangPublished in: Int. J. Robotics Autom. (2023)
Keyphrases
- degrees of freedom
- joint space
- end effector
- joint angles
- robotic arm
- parallel robot
- motion planning
- orthogonal matrices
- configuration space
- robotic manipulator
- human hand
- matrix inversion
- mobile robot
- path planning
- vision system
- robot navigation
- pose estimation
- inverse kinematics
- humanoid robot
- coefficient matrix
- linear equations
- robot arm
- kinematic model
- linear complementarity problem
- articulated objects
- real time
- linear systems
- position and orientation
- covariance matrix
- mathematical model
- control system
- optimal solution
- genetic algorithm