Closed-Form Inverse Kinematics for Continuum Manipulators.
Srinivas NeppalliMatthew A. CsencsitsBryan A. JonesIan D. WalkerPublished in: Adv. Robotics (2009)
Keyphrases
- closed form
- inverse kinematics
- motion planning
- robot arm
- robot manipulators
- degrees of freedom
- position and orientation
- path planning
- end effector
- humanoid robot
- control law
- adaptive control
- mobile robot
- iterative procedure
- closed form solutions
- robotic systems
- point correspondences
- joint angles
- dynamic environments
- objective function