Contour error-based optimization of the end-effector pose of a 6 degree-of-freedom serial robot in milling operation.
Junzhe LinCongcong YeJixiang YangHuan ZhaoHan DingMing LuoPublished in: Robotics Comput. Integr. Manuf. (2022)
Keyphrases
- end effector
- degrees of freedom
- inverse kinematics
- vision system
- robot arm
- position and orientation
- robot manipulators
- pose estimation
- visual servoing
- joint angles
- hand eye calibration
- force feedback
- d objects
- robotic manipulator
- robotic arm
- joint space
- position control
- manipulation tasks
- global optimization
- relative pose
- computer vision
- soft computing
- motion planning
- human body
- optimization algorithm
- real time
- control scheme
- three dimensional
- surgical robot
- configuration space
- control law
- force control
- fuzzy logic