Minimum-Effort Motions for Open-Chain Manipulators with Task-Dependent End-Effector Constraints.
Bryan J. MartinJames E. BobrowPublished in: Int. J. Robotics Res. (1999)
Keyphrases
- end effector
- degrees of freedom
- hand eye calibration
- inverse kinematics
- control law
- robot arm
- robot manipulators
- motion planning
- vision system
- joint angles
- parallel manipulator
- visual servoing
- image sequences
- force feedback
- configuration space
- adaptive control
- path planning
- motion estimation
- optical flow
- real time
- closed loop
- pose estimation
- master slave
- viewpoint