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Analytical Solutions for Two-Contact Whole-Arm Manipulation Inverse Kinematics for Manipulators with Link Offsets.

Pascal HinrichsMinh Tam VuMax PfingsthornChristian KowalskiAndreas Hein
Published in: IRC (2022)
Keyphrases
  • inverse kinematics
  • motion planning
  • robot arm
  • robot manipulators
  • position and orientation
  • joint angles
  • end effector
  • mobile robot
  • real time
  • degrees of freedom
  • genetic algorithm
  • d objects
  • path planning
  • contact force