Manipulator control at kinematic singularities: a dynamically consistent strategy.
Kyong-Sok ChangOussama KhatibPublished in: IROS (3) (1995)
Keyphrases
- end effector
- control system
- degrees of freedom
- parallel manipulator
- control method
- inverse kinematics
- robot manipulators
- wheeled mobile robots
- robotic manipulator
- trajectory tracking
- force control
- robotic arm
- master slave
- control theory
- computer controlled
- changing environment
- control strategy
- visual servoing
- robot arm
- selection strategy
- kinematic model
- vision system
- joint space
- computer vision
- robot control
- hand eye
- information systems
- evolutionary algorithm
- path planning
- optimal control
- control law
- control strategies
- database