Redundant inverse kinematics: Experimental comparative review and two enhancements

IEEE International Conference on Intelligent Robots and Systems

Volumn , Issue , 2012, Pages 5333-5340

  Colome, Adria ^a   Torras, Carme ^a  

^a INSTITUT DE ROBÒTICA I INFORMÀTICA INDUSTRIAL CSIC UPC   (Spain)

Author keywords

[No Author keywords available]

Indexed keywords

CLOSED-LOOP METHOD; COMPUTATIONAL TIME; EXPERIMENTAL COMPARISON; JACOBIANS; JOINT LIMITS; MULTIPLE TASK PERFORMANCE; NUMERICAL ERRORS; NUMERICALLY ROBUST; PRIORITY STRATEGY; PSEUDO-INVERSES; REDUNDANT ROBOT; ROBOT ARMS; SINGULAR VALUES; TIME STEP LENGTH;

ALGORITHMS; CONVERGENCE OF NUMERICAL METHODS; INTELLIGENT SYSTEMS; JACOBIAN MATRICES; REDUNDANT MANIPULATORS; ROBOTIC ARMS;

INVERSE KINEMATICS;

EID: 84872297107     PISSN: 21530858     EISSN: 21530866     Source Type: Conference Proceeding    
DOI: 10.1109/IROS.2012.6385672     Document Type: Conference Paper

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