Natural Resolution of Ill-Posed Inverse Kinematics for Redundant Robots: A Challenge to Bernstein's Degrees-of-Freedom Problem.
Suguru ArimotoMasahiro SekimotoPublished in: J. Robotics Mechatronics (2006)
Keyphrases
- degrees of freedom
- inverse kinematics
- motion planning
- end effector
- joint space
- robot arm
- joint angles
- collision free
- multi robot
- robot manipulators
- mobile robot
- robotic arm
- pose estimation
- path planning
- position and orientation
- collision free paths
- configuration space
- control law
- high resolution
- articulated objects
- humanoid robot
- robotic systems
- image sequences
- fuzzy systems
- vision system
- human hand
- feature extraction