Closed-Loop Inverse Kinematics Schemes for Constrained Redundant Manipulators with Task Space Augmentation and Task Priority Strategy.
Pasquale ChiacchioStefano ChiaveriniLorenzo SciaviccoBruno SicilianoPublished in: Int. J. Robotics Res. (1991)
Keyphrases
- inverse kinematics
- closed loop
- robot manipulators
- control scheme
- open loop
- robot arm
- control law
- end effector
- control system
- feedback control
- position and orientation
- pid controller
- parameter identification
- motion planning
- computer vision
- dynamic model
- experimental data
- joint angles
- nonlinear systems
- fuzzy controller
- control algorithm
- computational intelligence
- video sequences