DocumentCode
1548755
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
Volume
13
Issue
3
fYear
1997
fDate
6/1/1997 12:00:00 AM
Firstpage
437
Lastpage
442
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;
fLanguage
English
Journal_Title
Robotics and Automation, IEEE Transactions on
Publisher
ieee
ISSN
1042-296X
Type
jour
DOI
10.1109/70.585904
Filename
585904
Link To Document