Decoupled Kinematics for Non-spherical Wrist Manipulators.
Diego Rodríguez-GuerraGorka SorrosalItziar CabanesAitziber MancisidorCarlos CallejaPublished in: ROBOT (2) (2023)
Keyphrases
- end effector
- degrees of freedom
- parallel manipulator
- control law
- motion planning
- joint angles
- inverse kinematics
- robot arm
- dynamic model
- spherical harmonics
- adaptive control
- vision system
- wide angle
- closed loop
- robotic systems
- visual servoing
- robot manipulators
- path planning
- master slave
- robotic manipulator
- three dimensional
- data sets
- unit sphere
- spherical images
- arbitrary shape
- pose estimation
- high resolution
- computational complexity
- genetic algorithm
- data mining
- real time
- star shaped