Compliant motion tasks for robot manipulators subject to joint velocity constraints.
Xanthi S. PapageorgiouKostas J. KyriakopoulosPublished in: CDC (2008)
Keyphrases
- robot manipulators
- inverse kinematics
- joint angles
- end effector
- trajectory planning
- kinematic constraints
- optical flow
- tracking error
- control scheme
- degrees of freedom
- control of robot manipulators
- dynamic model
- motion model
- motion estimation
- velocity vector
- velocity field
- robot arm
- kinematic model
- pid controller
- motion planning
- position and orientation
- real time
- camera motion
- human body
- pose estimation
- simulated annealing
- mobile robot
- decision making