On avoiding singularities in redundant robot kinematics.
Krzysztof TchonAleksander MatuszokPublished in: Robotica (1995)
Keyphrases
- parallel robot
- inverse kinematics
- end effector
- mobile robot
- human robot interaction
- robot manipulators
- autonomous robots
- humanoid robot
- robot arm
- obstacle avoidance
- robotic systems
- path planning
- human robot
- robot control
- visual servoing
- multi robot
- degrees of freedom
- experimental platform
- position and orientation
- goal directed
- robot navigation
- highly redundant
- motion control
- computer controlled
- human users
- motion planning
- vision system
- singularity detection
- semi autonomous
- skill learning
- hand eye
- real time
- manipulation tasks
- service robots
- mobile robotics
- indoor environments
- computer vision
- learning algorithm
- genetic algorithm