Kinematics, stiffness and natural frequency of a redundantly actuated masticatory robot constrained by two point-contact higher kinematic pairs.
Chen ChengWeiliang XuJianzhong ShangPublished in: IROS (2015)
Keyphrases
- parallel robot
- end effector
- inverse kinematics
- robot manipulators
- robot arm
- force feedback
- parallel manipulator
- force control
- degrees of freedom
- vision system
- position control
- control law
- visual servoing
- mobile robot
- contact force
- position and orientation
- control scheme
- motion planning
- joint angles
- joint space
- kinematic model
- pairwise
- robotic arm
- configuration space
- robotic manipulator
- robot navigation
- autonomous robots
- dynamic model
- hand eye calibration
- trajectory tracking control
- physical constraints
- manipulation tasks
- control strategies
- robot motion
- human robot interaction
- path planning
- computer vision