Variable Step Sizes for Iterative Jacobian-Based Inverse Kinematics of Robotic Manipulators.

Jacinto Colan Ana Davila Yasuhisa Hasegawa

Published in: IEEE Access (2024)

Keyphrases

robotic manipulator
inverse kinematics
end effector
step size
robot manipulators
robot arm
control scheme
cost function
position and orientation
convergence rate
degrees of freedom
motion planning
convergence speed
vision system
joint angles
visual servoing
neural network
closed loop
pose estimation