A Continuum Manipulator with Closed-form Inverse Kinematics and Independently Tunable Stiffness.

Bin Zhao Lingyun Zeng Baibo Wu Kai Xu

Published in: ICRA (2020)

Keyphrases

closed form
inverse kinematics
robot manipulators
robot arm
position and orientation
end effector
motion planning
point correspondences
closed form solutions
control scheme
iterative procedure
image sequences
degrees of freedom
particle swarm optimization
multi modal