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
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;
Conference_Titel :
Robotics and Automation, 2006. ICRA 2006. Proceedings 2006 IEEE International Conference on
Conference_Location :
Orlando, FL
Print_ISBN :
0-7803-9505-0
DOI :
10.1109/ROBOT.2006.1642337
