A new geometrical approach to solve inverse kinematics of hyper redundant robots with variable link length
In this paper a new approach that generates a general algorithm for n-link hyper-redundant robot is presented. This method uses repetitively the basic inverse kinematics solution of a 2- link robot on some virtual links,where the virtual links are defined following some geometric proposition. Th...
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| Pengarang-pengarang Utama: | , , |
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| Format: | Conference or Workshop Item |
| Bahasa: | English |
| Diterbitkan: |
2011
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| Subjek-subjek: | |
| Capaian Atas Talian: | http://irep.iium.edu.my/3052/ http://irep.iium.edu.my/3052/ http://irep.iium.edu.my/3052/ http://irep.iium.edu.my/3052/1/%2810.1109-ICOM.2011.5937183%2958C.pdf |
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| Ringkasan: | In this paper a new approach that generates a
general algorithm for n-link hyper-redundant robot is
presented. This method uses repetitively the basic inverse
kinematics solution of a 2- link robot on some virtual links,where the virtual links are defined following some
geometric proposition. Thus, it eliminates the
mathematical complexity in computing inverse kinematics
solution of n-link hyper redundant robot. Further, this
approach can handle planar manipulator with variable
links eliminating singularity. Numerical simulations for
planar hyper redundant models are presented in order to
illustrate the competency of the model. |
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