Development of Virtual Link Method for the Solution of Hyper-Redundant Spatial Robot Arms
This article presents a new method for the kinematics of hyper-redundant spatial robots, called the virtual link method. The method is based on dividing the robot into sub-systems consisting of three or four links. Virtual links are established between the first and the last nodes of each sub-system...
|Journal Title:||Journal of Robotic Systems Vol. 13; no. 6; pp. 371 - 378|
|Authors:||Hashem Ashrafiuon, K. Sanka|