DPSO and Inverse Jacobian-Based Real-Time Inverse Kinematics With Trajectory Tracking Using Integral SMC for Teleoperation
نویسندگان
چکیده
منابع مشابه
Jacobian Inverse Kinematics Manipulators
We study Jacobian inverse kinematics algorithms for mobile manipulators composed of a nonholonomic mobile platform and a holonomic onboard manipulator. In general, the Jacobian algorithms converge locally, often producing weird end effector and platform trajectories. In the paper we use the existing theory of Newton algorithms in order to improve the quality of convergence of the Jacobian algor...
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ژورنال
عنوان ژورنال: IEEE Access
سال: 2020
ISSN: 2169-3536
DOI: 10.1109/access.2020.3020318