A Fast Damped Least-squares Solution To Manipulator Inverse Kinematics And Singularities Prevention.

René V. Mayorga Andrew K. C. Wong N. Milano

Published in: IROS (1992)

Keyphrases

inverse kinematics
least squares
robot manipulators
robot arm
position and orientation
end effector
motion planning
real time
mathematical model
pose estimation
degrees of freedom
joint angles