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ICRA
2005
IEEE
123views Robotics» more  ICRA 2005»
10 years 4 months ago
Sizing a Serial Chain to Fit a Task Trajectory Using Clifford Algebra Exponentials
— In this paper we formulate the “generalized inverse kinematics problem” for a spatial serial chain, where the goal is to determine values for structural parameters as well ...
A. Perez, J. Michael McCarthy
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