Weighted decomposition of kinematics and dynamics of kinematically redundant manipulators.
Jonghoon ParkWankyun ChungYoungil YoumPublished in: ICRA (1996)
Keyphrases
- inverse kinematics
- end effector
- robot manipulators
- robot arm
- path planning
- dynamical systems
- artificial intelligence
- decomposition algorithm
- decomposition method
- kinematic model
- wavelet packet
- position and orientation
- dynamic model
- initial conditions
- weighted sum
- computer assisted
- hierarchical decomposition
- joint angles
- experimental data
- three dimensional