Task Space Control of Articulated Robot Near Kinematic Singularity: Forward Dynamics Approach.
Donghyeon LeeWoongyong LeeJonghoon ParkWan Kyun ChungPublished in: IEEE Robotics Autom. Lett. (2020)
Keyphrases
- joint space
- end effector
- kinematic model
- mobile robot
- degrees of freedom
- trajectory tracking control
- wheeled mobile robots
- inverse kinematics
- robot control
- autonomous robots
- robot manipulators
- robotic systems
- motion control
- robotic arm
- mechanical systems
- physical constraints
- visual servoing
- vision system
- hand eye
- wheel slip
- configuration space
- control system
- trajectory tracking
- dynamic model
- control signals
- robotic manipulator
- human operators
- humanoid robot
- robot motion
- multi robot
- control architecture
- parallel robot
- robot arm
- scale space
- walking robot
- dynamical systems
- formation control
- path planning
- robot behavior
- nonlinear dynamics
- home environment
- highly nonlinear
- joint angles
- sensory motor
- air fuel ratio
- human body
- articulated objects