Inverse kinematics for autonomous underwater manipulations using weighted damped least squares.
Gun Rae ChoMunjik LeeMin-Gyu KimJi-Hong LiPublished in: URAI (2017)
Keyphrases
- inverse kinematics
- least squares
- robot arm
- robot manipulators
- position and orientation
- motion planning
- end effector
- linear model
- optical flow
- autonomous underwater vehicles
- joint angles
- pose estimation
- real world
- robotic systems
- control scheme
- dynamic model
- experimental data
- input output
- particle swarm optimization
- vision system
- evolutionary algorithm
- genetic algorithm