Natural resolution of ill-posedness of inverse kinematics for redundant robots: a challenge to Bernstein's degrees-of-freedom problem.
Suguru ArimotoMasahiro SekimotoHiroe HashiguchiRyuta OzawaPublished in: Adv. Robotics (2005)
Keyphrases
- degrees of freedom
- inverse kinematics
- motion planning
- end effector
- joint space
- joint angles
- robot arm
- collision free
- multi robot
- pose estimation
- mobile robot
- position and orientation
- robotic arm
- path planning
- robot manipulators
- humanoid robot
- articulated objects
- robot control
- configuration space
- high resolution
- real world
- collision free paths
- autonomous robots
- control law
- dynamic environments
- vision system
- object recognition