Differential Topology of the Inverse Kinematic Problem for Redundant Robot Manipulators.
Krzysztof TchonPublished in: Int. J. Robotics Res. (1991)
Keyphrases
- robot manipulators
- inverse kinematics
- end effector
- control of robot manipulators
- control scheme
- mechanical devices
- sliding mode control
- trajectory planning
- dynamic model
- sliding mode
- joint angles
- fuzzy neural network
- configuration space
- robot arm
- degrees of freedom
- input output
- objective function
- neural network
- mathematical model
- control system
- variable structure
- support vector
- learning algorithm