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...
|Journal Title:||Journal of Robotic Systems Vol. 19; no. 1; pp. 1 - 12|
|Authors:||Hashem Ashrafiuon, C. Nataraj, F.M. Asl|