An Improved Inverse Kinematic and Velocity Solution for Spatial Hyper-redundant Robots
Abstract—A new and efficient kinematic position and velocity solution scheme for spatial hyper-redundant manipulators is presented. The manipulator’s arm has discrete links and universal joints. Backbone curve concepts and a modal approach are used to resolve the manipulator’s redundancy. The effect...
|Journal Title:||IEEE Transactions on Robotics and Automation Vol. 18; no. 1; pp. 103 - 107|
|Authors:||Hashem Ashrafiuon, F. Fahimi, C. Nataraj|