On inverting singular kinematics and geodesic trajectory generation for robot manipulators.

Krzysztof Tchon Ignacy Duleba

Published in: J. Intell. Robotic Syst. (1993)

Keyphrases

robot manipulators
trajectory planning
inverse kinematics
end effector
control of robot manipulators
control scheme
dynamic model
sliding mode control
pid controller
kinematic model
artificial intelligence
sliding mode
joint angles
genetic algorithm
expert systems