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Analytical Inverse Kinematic Computation for 7-DOF Redundant Manipulators With Joint Limits and Its Application to Redundancy Resolution.
Masayuki Shimizu
H. Kakuya
Woo-Keun Yoon
Kosei Kitagaki
Kazuhiro Kosuge
Published in:
IEEE Trans. Robotics (2008)
Keyphrases
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inverse kinematics
joint angles
end effector
degrees of freedom
path planning
robot arm
motion planning
joint space
configuration space
matrix inversion
robot manipulators
parallel robot
position control
human body
low resolution
physical constraints
learning algorithm
efficient computation