On Null Space-Based Inverse Kinematics Techniques for Fleet Management: Toward Time-Varying Task Activation.
Anna MannucciDanilo CaporaleLucia PallottinoPublished in: IEEE Trans. Robotics (2021)
Keyphrases
- inverse kinematics
- null space
- fleet management
- robot arm
- robot manipulators
- linear discriminant analysis
- position and orientation
- singular value decomposition
- principal components
- novelty detection
- motion planning
- theoretical guarantees
- singular values
- discriminative information
- discriminant analysis
- intra class
- training samples
- lower dimensional
- feature extraction
- degrees of freedom
- path planning
- dimensionality reduction