A Geometrical Inverse Kinematics Method for Hyper-Redundant Manipulators

被引：14
|
作者：
Yahya, Samer [1 ]
Mohamed, Haider A. F. [1 ]
Moghavvemi, M. [1 ]
Yang, S. S. [1 ]
机构：
[1] Univ Malaya, Ctr Res Appl Elect, Kuala Lumpur 50603, WP, Malaysia
来源：
2008 10TH INTERNATIONAL CONFERENCE ON CONTROL AUTOMATION ROBOTICS & VISION: ICARV 2008, VOLS 1-4 | 2008年
关键词：
hyper redundant manipulator; inverse kinematics; geometrical method;
D O I：
10.1109/ICARCV.2008.4795829
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
Hyper-redundant manipulators have large number of kinematic degrees of freedom, thus processing some unconventional features such as the ability to enter a narrow space while avoiding obstacles. To solve the problem of multi-solution caused by redundancy, a geometrical method is presented in this paper. This proposed method finds one optimal solution to the inverse kinematics of redundant or hyper redundant manipulators from these infinite solutions with fewer computations. This method can be used for any planar n-serial manipulators. Experiments are conducted 3-links redundant manipulator and 10-links hyper-redundant manipulator to demonstrate the effectiveness of this proposed method.
引用
收藏
页码：1954 / 1958
页数：5
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