DocumentCode
2108368
Title
Kinematics and diferential kinematics of binocular robot heads
Author
Zamora-Esquivel, Julio ; Bayro-Corrochano, Eduardo
Author_Institution
Dept. of Electr. Eng. & Comput. Sci., CINVESTAV, Jalisco
fYear
2006
fDate
15-19 May 2006
Firstpage
4130
Lastpage
4135
Abstract
This paper presents an analysis of the kinematics of a binocular head, and a new formulation of its differential kinematics using the conformal geometric algebra framework. The experimental part includes the smooth visual tracking of 3D objects
Keywords
geometry; robot kinematics; binocular robot heads; conformal geometric algebra framework; differential robot kinematics; visual tracking; Calculus; Differential algebraic equations; Geometry; Jacobian matrices; Kinematics; Linear algebra; Quaternions; Robots; Vectors; Velocity control;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2006. ICRA 2006. Proceedings 2006 IEEE International Conference on
Conference_Location
Orlando, FL
ISSN
1050-4729
Print_ISBN
0-7803-9505-0
Type
conf
DOI
10.1109/ROBOT.2006.1642337
Filename
1642337
Link To Document