Visual Servoing Based on Learned Inverse Kinematics
Initially an analytical closed-form inverse kinematics solution for a 5 DOF robotic arm was developed and implemented. This analytical solution proved not to meet the accuracy required for the shape sorting puzzle setup used in the COSPAL (COgnitiveSystems using Perception-Action Learning) project [...
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| Format: | Others |
| Language: | English |
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Linköpings universitet, Institutionen för systemteknik
2007
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| Online Access: | http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-8710 |