A General Solution for Position, Velocity and Acceleration of Planar Hyper-Redundant Manipulators

A new approach for the solution of the position, velocity, and acceleration of hyperredundant planar manipulators following any twice-differentiable desired path is presented. The method is singularity free, and provides a robust solution even in the event of mechanical failure of some of the robot...

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Journal Title: Journal of Robotic Systems Vol. 19; no. 1; pp. 1 - 12
Authors: Hashem Ashrafiuon, C. Nataraj, F.M. Asl
Format: Article
Published: Jan 2002
Online Access: Full Text