Lie Group-Based User Motion Refinement Control for Teleoperation of a Constrained Robot Arm.
Jonghyeok KimDonghyeon LeeYoungjin ChoiWan Kyun ChungPublished in: IEEE Robotics Autom. Lett. (2024)
Keyphrases
- robot arm
- end effector
- inverse kinematics
- lie group
- motion planning
- degrees of freedom
- position and orientation
- control strategies
- robot manipulators
- vision system
- path planning
- infinite dimensional
- visual servoing
- optical flow
- nonlinear systems
- motion patterns
- control strategy
- motion analysis
- control system
- geometric structure
- fuzzy controller
- covariance matrices
- euclidean space
- linear transformation
- parameter space
- vector space
- mobile robot
- image sequences
- visual feedback