Title :
On the kinematics of robot heads
Author :
Sharkey, Paul M. ; Murray, David W. ; Heuring, Jason J.
Author_Institution :
Dept. of Cybern., Reading Univ., UK
fDate :
6/1/1997 12:00:00 AM
Abstract :
The following presents a standardized approach to the kinematics of a generalized stereo robot head, providing both forward and inverse kinematic solutions as well as a discussion on the head Jacobian. The paper is intended as a comprehensive tutorial and as a standard notation reference for researchers in the field of active vision
Keywords :
Jacobian matrices; active vision; robot kinematics; robot vision; active vision; forward kinematic solutions; generalized stereo robot head; head Jacobian; inverse kinematic solutions; standardized approach; Cameras; Charge coupled devices; Charge-coupled image sensors; Focusing; Head; Jacobian matrices; Kinematics; Neck; Optical arrays; Robot vision systems;
Journal_Title :
Robotics and Automation, IEEE Transactions on
