Avoidance of obstacles and joint limits for end-effector tracking in redundant manipulators.
Jin-Liang ChenJing-Sin LiuPublished in: ICARCV (2002)
Keyphrases
- end effector
- joint angles
- inverse kinematics
- degrees of freedom
- human arm
- robot arm
- robot manipulators
- human body
- position and orientation
- joint space
- vision system
- motion planning
- robotic manipulator
- motion capture
- visual servoing
- position control
- robotic arm
- real time
- particle filter
- minimally invasive surgery
- viewpoint
- pose estimation
- human pose
- control law
- closed loop
- experimental data