Inverse kinematics with closed form solutions for highly redundant robotic systems

Proceedings - IEEE International Conference on Robotics and Automation

Volumn , Issue , 2009, Pages 2945-2950

  Konietschke, Rainer ^a   Hirzinger, Gerd ^a  

^a GERMAN AEROSPACE CENTER DLR   (Germany)

Author keywords

[No Author keywords available]

Indexed keywords

AGRICULTURAL ROBOTS; DEGREES OF FREEDOM (MECHANICS); INVERSE KINEMATICS; INVERSE PROBLEMS; MULTIOBJECTIVE OPTIMIZATION; NONLINEAR EQUATIONS; REDUNDANCY; ROBOTICS; TREES (MATHEMATICS);

CLOSED FORM SOLUTIONS; FAST CALCULATIONS; MULTICRITERIA OPTIMIZATION; OPTIMIZATION CRITERIA; POSITION KINEMATICS; REAL TIME CAPABILITY; REDUNDANCY RESOLUTION; REDUNDANT JOINTS;

ITERATIVE METHODS;

EID: 84885743455     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ROBOT.2009.5152706     Document Type: Conference Paper

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