Inverse kinematics of a 10 DOF modular hyper-redundant robot resorting to exhaustive and error-optimization methods (a comparative study)
The present work describes and compares several approaches applied to compute the inverse kinematics of a ten degrees of freedom hyper-redundant robot. The proposed approaches are based on an exhaustive method and several error-optimization algorithms. The algorithms’ performance was evaluated based...
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| Format: | masterThesis |
| Language: | eng |
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2013
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| Online Access: | http://hdl.handle.net/10198/8027 |
| Country: | Portugal |
| Oai: | oai:bibliotecadigital.ipb.pt:10198/8027 |