A Dexterity Measure for the Kinematic Control of a Multifinger, Multifreedom Robot Hand.
P. Ross McAreeAndrew E. SamuelKenneth H. HuntC. G. GibsonPublished in: Int. J. Robotics Res. (1991)
Keyphrases
- end effector
- degrees of freedom
- robot manipulators
- inverse kinematics
- visual servoing
- robot arm
- vision system
- robotic manipulator
- robotic arm
- joint space
- robot control
- control theoretic
- sensory motor
- mobile robot
- hand eye coordination
- wheeled mobile robots
- robotic systems
- autonomous robots
- control architecture
- robot motion
- force feedback
- distance measure
- parallel robot
- motion control
- manipulation tasks
- similarity measure
- control signals
- kinematic model
- motor learning
- hand eye
- control law
- control system
- legged robots
- robot behavior
- object manipulation
- path planning
- robot assisted
- humanoid robot
- physical constraints
- position and orientation
- joint angles
- human robot interaction
- robot navigation