IKLink: End-Effector Trajectory Tracking with Minimal Reconfigurations.
Yeping WangCarter SiffermanMichael GleicherPublished in: ICRA (2024)
Keyphrases
- end effector
- trajectory tracking
- visual servoing
- control law
- vision system
- mobile robot
- closed loop
- sliding mode
- robot manipulators
- degrees of freedom
- control system
- inverse kinematics
- image space
- robot arm
- robot control
- camera motion
- dynamic model
- control scheme
- control strategy
- nonlinear systems
- control algorithm
- adaptive control
- real time
- control parameters
- physical constraints
- optimal control
- membership functions
- autonomous robots
- least squares
- dynamic programming
- video sequences
- computer vision