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Analytical inverse kinematic solution for modularized 7-DoF redundant manipulators with offsets at shoulder and wrist.
Ren C. Luo
Tsung-Wei Lin
Yun-Hsuan Tsai
Published in:
IROS (2014)
Keyphrases
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end effector
degrees of freedom
inverse kinematics
robot arm
path planning
optimal solution
linear equations
visual servoing
robot manipulators
pose estimation
vision system
orthogonal matrices
joint space
joint angles
motion planning
solution quality
exact solution
control law
human body