Analytical inverse kinematics for 5-DOF humanoid manipulator under arbitrarily specified unconstrained orientation of end-effector.

Masayuki Shimizu

Published in: Robotica (2015)

Keyphrases

end effector
inverse kinematics
position and orientation
motion planning
degrees of freedom
robot arm
robot manipulators
robotic manipulator
pose estimation
humanoid robot
vision system
robotic arm
joint angles
mobile robot
control law
path planning
human body
visual servoing
multi modal
particle swarm optimization