Joint-Space Kinematic Model for Gravity-Referenced Joint Angle Estimation of Heavy-Duty Manipulators.
Juho VihonenJouni MattilaAri VisaPublished in: IEEE Trans. Instrum. Meas. (2017)
Keyphrases
- degrees of freedom
- joint space
- motion planning
- joint angles
- kinematic model
- end effector
- inverse kinematics
- robot arm
- trajectory planning
- mechanical systems
- humanoid robot
- pose estimation
- control law
- state estimation
- path planning
- configuration space
- vision system
- obstacle avoidance
- computer vision
- position and orientation
- mobile robot