Inverse kinematics of a 10 DOF modular hyper-redundant robot resorting to exhaustive and error-optimization methods: a comparative study
This paper describes and compares several approaches applied to compute the inverse kinematics of a 10 degrees of freedom hyper-redundant robot. The proposed approaches are based on an exhaustive method and several erroroptimization algorithms. The algorithms’ performance was evaluated based on two...
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| Other Authors: | , , , |
| Format: | conferenceObject |
| Language: | eng |
| Published: |
2014
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| Subjects: | |
| Online Access: | http://hdl.handle.net/10198/9649 |
| Country: | Portugal |
| Oai: | oai:bibliotecadigital.ipb.pt:10198/9649 |
| Summary: | This paper describes and compares several approaches applied to compute the inverse kinematics of a 10 degrees of freedom hyper-redundant robot. The proposed approaches are based on an exhaustive method and several erroroptimization algorithms. The algorithms’ performance was evaluated based on two criteria: computing time and final actuator positioning error. The mentioned hyper-redundant robot was projected to be used in biomedical applications. |
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