Overcoming Kinematic Singularities for Motion Control in a Caster Wheeled Omnidirectional Robot.
Oded MedinaShlomi HacohenPublished in: Robotics (2021)
Keyphrases
- motion control
- mobile robot
- kinematic model
- autonomous navigation
- autonomous robots
- vision sensor
- path planning
- dynamic environments
- visual servoing
- robot control
- robotic systems
- physical constraints
- multi robot
- degrees of freedom
- motion planning
- real robot
- robotic soccer
- parallel robot
- end effector
- configuration space
- stereo vision
- control system
- optical flow
- real time