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...

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Journal Title: IEEE Transactions on Robotics and Automation Vol. 18; no. 1; pp. 103 - 107
Authors: Hashem Ashrafiuon, F. Fahimi, C. Nataraj
Format: Article
Published: Feb 2002
Online Access: Full Text