Motion tasks for robot manipulators subject to joint velocity constraints.
Xanthi S. PapageorgiouKostas J. KyriakopoulosPublished in: IROS (2008)
Keyphrases
- robot manipulators
- inverse kinematics
- joint angles
- trajectory planning
- kinematic constraints
- end effector
- control of robot manipulators
- optical flow
- velocity field
- image sequences
- control scheme
- dynamic model
- tracking error
- velocity vector
- motion planning
- robot arm
- motion model
- camera motion
- pid controller
- motion estimation
- human body
- sliding mode
- kinematic model
- multi objective
- position and orientation