A normal form of singular kinematics of robot manipulators with smallest degeneracy.
Krzysztof TchonPublished in: IEEE Trans. Robotics Autom. (1995)
Keyphrases
- normal form
- robot manipulators
- inverse kinematics
- end effector
- functional dependencies
- database design
- relational algebra
- relational databases
- control scheme
- dynamic model
- nested relations
- sliding mode
- information content
- joint angles
- databases
- prime implicates
- relational database theory
- data dependencies
- fuzzy neural network
- pid controller
- closed loop
- database applications
- rough sets
- control system
- query processing
- set of functional dependencies
- genetic algorithm