Kinematic and Dynamic Analysis of the 2-DOF Spherical Wrist of Orthoglide 5-axis
Raza Ur-RehmanStéphane CaroDamien ChablatPhilippe WengerPublished in: CoRR (2009)
Keyphrases
- dynamic analysis
- end effector
- degrees of freedom
- inverse kinematics
- static analysis
- reverse engineering
- robot arm
- vision system
- joint angles
- robot manipulators
- robotic manipulator
- joint space
- visual servoing
- parallel robot
- spherical images
- motion planning
- model checking
- position control
- spherical harmonics
- control law
- cross section
- object oriented
- three dimensional
- position and orientation
- human body
- pose estimation
- abstract interpretation
- mobile robot
- control strategy
- path planning
- matching algorithm
- error rate
- source code