A magnetically levitated fine motion wrist: kinematics, dynamics and control.
Septimiu E. SalcudeanRalph L. HollisPublished in: ICRA (1988)
Keyphrases
- end effector
- inverse kinematics
- degrees of freedom
- robot manipulators
- joint angles
- kinematic model
- visual servoing
- vision system
- robotic manipulator
- robot arm
- motion control
- motion planning
- parallel robot
- control signals
- parallel manipulator
- mechanical systems
- motion analysis
- dynamical systems
- control system
- motion model
- physical constraints
- highly nonlinear
- control law
- force control
- sagittal plane
- robot control
- motion capture
- motion detection
- dynamic model
- human body
- pose estimation
- mobile robot
- autonomous navigation
- position and orientation
- magnetic field
- control method
- optimal control
- coarse to fine
- computer assisted
- space time
- motion estimation