Inverse kinematics of discretely actuated hyper-redundant manipulators using workspace densities.

Imme Ebert-Uphoff Gregory S. Chirikjian

Published in: ICRA (1996)

Keyphrases

inverse kinematics
robot arm
robot manipulators
control scheme
motion planning
control law
position and orientation
end effector
closed loop
joint angles
mobile robot
computer vision
genetic algorithm
fuzzy logic
control strategies
reinforcement learning
machine learning