Inverse kinematics with closed form solutions for highly redundant robotic systems.
Rainer KonietschkeGerd HirzingerPublished in: ICRA (2009)
Keyphrases
- robotic systems
- highly redundant
- closed form solutions
- inverse kinematics
- robot arm
- closed form
- position and orientation
- vision system
- motion planning
- robot manipulators
- mobile robot
- managerial insights
- point correspondences
- multi robot
- end effector
- special case
- constrained optimization
- autonomous robots
- real robot
- joint angles
- video sequences
- real time
- neural network
- computer vision
- e learning
- dynamic environments
- path planning
- evolutionary computation
- degrees of freedom
- sensitivity analysis