Inverse kinematic solution for a 7 DOF robot with minimal computational complexity and singularity avoidance.
Manja V. KircanskiTatjana M. PetrovicPublished in: ICRA (1991)
Keyphrases
- parallel robot
- computational complexity
- degrees of freedom
- end effector
- path planning
- motion planning
- inverse kinematics
- robot arm
- mobile robot
- optimal solution
- robotic arm
- vision system
- configuration space
- special case
- robot navigation
- joint angles
- robotic manipulator
- pose estimation
- human robot interaction
- visual servoing
- mathematical model
- wavelet transform
- computer vision
- robotic systems
- memory requirements
- joint space