Joint Limit Optimal Inverse Kinematics of the 7-DoF Manipulator with Link Offset based on Semi-analytical Solution.
Yaowen ZhangYechao LiuBaoshi CaoYang LiuBoyu MaZongwu XiePublished in: ROBIO (2021)
Keyphrases
- inverse kinematics
- joint angles
- end effector
- motion planning
- robot manipulators
- robot arm
- degrees of freedom
- optimal solution
- position and orientation
- path planning
- robotic manipulator
- pose estimation
- mathematical model
- control scheme
- control method
- control law
- humanoid robot
- vision system
- dynamic programming
- robotic arm
- objective function