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Review of the damped least-squares inverse kinematics with experiments on an industrial robot manipulator.

Stefano ChiaveriniBruno SicilianoOlav Egeland
Published in: IEEE Trans. Control. Syst. Technol. (1994)
Keyphrases
  • inverse kinematics
  • robot manipulators
  • least squares
  • control of robot manipulators
  • control scheme
  • end effector
  • robot arm
  • dynamic model
  • joint angles
  • position and orientation
  • real time
  • optical flow
  • vision system