Singularity-Robust Inverse Kinematics for Serial Manipulators

Publicado en línea: 04 mar 2024

Páginas: 38 - 45

Recibido: 04 dic 2022

Aceptado: 21 abr 2023

DOI: https://doi.org/10.14313/jamris/3-2023/21

Palabras clave

Serial manipulator, Forward kinematics, Jacobi matrix, Inverse kinematics, Singularities, Robustness, Evaluation

© 2023 Ignacy Dulęba, published by Sciendo

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