Reconfiguration of a parallel kinematic manipulator with 2T2R motions for avoiding singularities through minimizing actuator forces.
Francisco ValeroMiguel Díaz-RodríguezMarina VallésAntonio José BesaEnrique J. BernabeuAngel ValeraPublished in: CoRR (2024)
Keyphrases
- degrees of freedom
- inverse kinematics
- control system
- parallel manipulator
- configuration space
- end effector
- control method
- master slave
- joint angles
- image sequences
- video sequences
- robot manipulators
- manufacturing systems
- human motion
- parallel processing
- contact force
- hand eye calibration
- shared memory
- motion planning
- moving objects
- robot arm
- control scheme
- robotic arm
- vision system
- force control
- joint space
- optical flow