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On the kinematics of robot heads

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3 Author(s)
Sharkey, P.M. ; Dept. of Cybern., Reading Univ., UK ; Murray, D.W. ; Heuring, J.J.

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

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Robotics and Automation, IEEE Transactions on  (Volume:13 ,  Issue: 3 )