A closed-form inverse kinematic modelling of a 7R anthropomorphic upper limb based on a joint parametrization.

Published in: Humanoids (2006)

Keyphrases

closed form
joint angles
robot arm
inverse kinematics
degrees of freedom
point correspondences
motion planning
closed form expressions
kinematic model
closed form solutions
multiscale
iterative procedure
joint space
position and orientation
partition function
kinematic constraints