Numerical solution of robot arm inverse kinematics and dynamics.
Takahiro MasudaShiro HagiharaPublished in: Adv. Robotics (1986)
Keyphrases
- robot arm
- inverse kinematics
- numerical solution
- motion planning
- joint angles
- partial differential equations
- differential equations
- dynamical systems
- position and orientation
- end effector
- control strategies
- finite element
- dynamic model
- exact solution
- robot manipulators
- linear systems
- path planning
- control law
- nonlinear systems
- learning rate
- numerical methods
- real time
- degrees of freedom
- level set
- viewpoint
- image sequences
- image processing
- genetic algorithm
- real world