Closed-form inverse kinematics of 6R milling robot with singularity avoidance.
Wenlei XiaoHenning StraußTorsten LoohßHans-Werner HoffmeisterJürgen HesselbachPublished in: Prod. Eng. (2011)
Keyphrases
- closed form
- inverse kinematics
- robot manipulators
- robot arm
- end effector
- position and orientation
- motion planning
- closed form solutions
- joint angles
- point correspondences
- soft computing
- vision system
- humanoid robot
- rigid motion
- mobile robot
- control scheme
- natural image matting
- genetic algorithm
- inter frame
- degrees of freedom
- object recognition