Resolving kinematic redundancy of a robot using a quadratically constrained optimization technique.
Woong KwonBeom Hee LeeMyoung Hwan ChoiPublished in: Robotica (1999)
Keyphrases
- parallel robot
- inverse kinematics
- end effector
- mobile robot
- vision system
- configuration space
- path planning
- robot manipulators
- human robot interaction
- degrees of freedom
- robot arm
- visual servoing
- joint space
- physical constraints
- position and orientation
- robot navigation
- robot soccer
- humanoid robot
- multi robot
- motion planning
- robot control
- kinematic model
- wheeled mobile robots
- real time
- autonomous robots
- video sequences
- genetic algorithm
- obstacle avoidance
- manipulation tasks
- robot motion
- indoor environments
- robotic systems
- rough terrain
- simulated robot