Singularity-consistent inverse kinematics of a 6-DOF manipulator with a non-spherical wrist.
Yuichi TsumakiShinji KoteraDragomir N. NenchevMasaru UchiyamaPublished in: ICRA (1997)
Keyphrases
- end effector
- inverse kinematics
- robot arm
- robot manipulators
- joint angles
- robotic manipulator
- motion planning
- position and orientation
- degrees of freedom
- robotic arm
- position control
- vision system
- learning algorithm
- genetic algorithm
- evolutionary algorithm
- reinforcement learning
- visual servoing
- pose estimation
- real time