Inverse Kinematics for Functional Redundancy of Symmetric 3T1R Parallel Manipulators Using Tait-Bryan-Angle Kinematic Constraints.
Moritz SchapplerPublished in: ARK (2022)
Keyphrases
- inverse kinematics
- kinematic constraints
- position and orientation
- parallel manipulator
- trajectory planning
- end effector
- robot manipulators
- motion planning
- degrees of freedom
- dynamic model
- robot arm
- pose estimation
- human body
- vision system
- control scheme
- joint angles
- body parts
- control algorithm
- three dimensional
- multi modal