Singular inverse kinematic problem for robotic manipulators: a normal form approach.
Krzysztof TchonRobert MuszynskiPublished in: IEEE Trans. Robotics Autom. (1998)
Keyphrases
- normal form
- robotic manipulator
- degrees of freedom
- end effector
- database design
- relational algebra
- functional dependencies
- inverse kinematics
- relational databases
- nested relations
- control scheme
- robotic systems
- vision system
- visual servoing
- motion planning
- robot manipulators
- data dependencies
- robot arm
- configuration space
- information content
- joint angles
- object oriented
- prime implicates
- boolean expressions
- multiple models
- pose estimation
- position and orientation
- mobile robot