Published May 1993
| Published
Book Section - Chapter
Open
A General Numerical Method for Hyper-Redundant Manipulator Inverse Kinematics
- Creators
- Chirikjian, Gregory S.
Abstract
Hyper-redundant robots have a very large or infinite degree of kinematic redundancy. A generalized resolved-rate technique for solving hyper-redundant manipulator inverse kinematics using a backbone curve is introduced. This method is applicable even in cases when explicit representation of the backbone curve intrinsic geometry cannot be written in closed form. Problems of end-effector trajectory tracking which were previously intractable can now be handled with this technique. Examples include configurations generated using the calculus of variations. The method is naturally parallelizable for fast digital and/or analog computation.
Additional Information
© 1993 IEEE. Date of Current Version: 06 August 2002.Attached Files
Published - CHIicra93a.pdf
Files
CHIicra93a.pdf
Files
(461.0 kB)
Name | Size | Download all |
---|---|---|
md5:d2d3d75271384880f467746c59ea81c4
|
461.0 kB | Preview Download |
Additional details
- Eprint ID
- 29671
- Resolver ID
- CaltechAUTHORS:20120309-135006916
- Created
-
2012-03-12Created from EPrint's datestamp field
- Updated
-
2021-11-09Created from EPrint's last_modified field
- Other Numbering System Name
- INSPEC Accession Number
- Other Numbering System Identifier
- 4690857