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A closed-loop jacobian transpose scheme for solving the inverse kinematics of nonredundant and redundant wrists.
Pasquale Chiacchio
Bruno Siciliano
Published in:
J. Field Robotics (1989)
Keyphrases
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closed loop
inverse kinematics
robot manipulators
control scheme
control law
open loop
robot arm
control system
feedback control
pid controller
parameter identification
motion planning
position and orientation
end effector
chaotic systems
optimal control
fuzzy clustering
real time