A geometrical inverse kinematics method for hyper-redundant manipulators

Yahya, S. and Mohamed, H.A.F. and Moghavvemi, M. and Yang, S.S. (2008) A geometrical inverse kinematics method for hyper-redundant manipulators. In: 2008 10th International Conference on Control, Automation, Robotics and Vision, ICARCV 2008, 17 - 20 December 2008, Hanoi, Viet Nam..

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Hyper-redundant manipulators have large number of kinematic degrees of freedom, thus processing some unconventional features such as the ability to enter a narrow space while avoiding obstacles. To solve the problem of multi-solution caused by redundancy, a geometrical method is presented in this paper. This proposed method finds one optimal solution to the inverse kinematics of redundant or hyper redundant manipulators from these infinite solutions with fewer computations. This method can be used for any planar n-serial manipulators. Experiments are conducted 3-links redundant manipulator and 10-links hyper-redundant manipulator to demonstrate the effectiveness of this proposed method.

Item Type: Conference or Workshop Item (Paper)
Additional Information: ISBN: 978-142442287-6Source DOI: 10.1109/ICARCV.2008.4795829
Uncontrolled Keywords: Geometrical method; Hyper redundant manipulator; Inverse kinematics; Avoiding obstacles; Degrees of freedoms; Geometrical method; Hyper redundant manipulator; Optimal solutions; Serial manipulators; Unconventional features; Computer vision; Inverse kinematics; Robotics; Redundant manipulators
Subjects: T Technology > TA Engineering (General). Civil engineering (General)
Divisions: Faculty of Engineering
Depositing User: Ms. Norhamizah Tamizi
Date Deposited: 24 Mar 2014 08:14
Last Modified: 23 Nov 2017 02:14
URI: http://eprints.um.edu.my/id/eprint/9688

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