Singularity-Robust Inverse Kinematics for Serial Manipulators

Data publikacji: 04 mar 2024

Zakres stron: 38 - 45

Otrzymano: 04 gru 2022

Przyjęty: 21 kwi 2023

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

Słowa kluczowe

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

© 2023 Ignacy Dulęba, published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.