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Closed-form solutions for the inverse kinematics of the Agile Eye with constraint errors on the revolute joint axes.
Alessandro Cammarata
Michele Lacagnina
Rosario Sinatra
Published in:
IROS (2016)
Keyphrases
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inverse kinematics
closed form solutions
joint angles
closed form
robot arm
position and orientation
robot manipulators
managerial insights
special case
point correspondences
end effector
constrained optimization
motion planning
real time
sensitivity analysis
vision system
degrees of freedom
human body