A geometrical inverse kinematics method for hyper-redundant manipulators
Document Type
Conference Item
Publication Date
12-1-2008
Abstract
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.
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
Divisions
fac_eng
Event Title
2008 10th International Conference on Control, Automation, Robotics and Vision, ICARCV 2008
Event Location
Hanoi, Viet Nam.
Event Dates
17 - 20 December 2008
Event Type
conference
Additional Information
ISBN: 978-142442287-6Source DOI: 10.1109/ICARCV.2008.4795829