Published 1991
| public
Book Section - Chapter
Kinematics of Hyper-Redundant Manipulators
- Creators
- Chirikjian, Gregory S.
- Burdick, Joel W.
- Others:
- Stifter, Sabine
- Lenarčič, Jadran
Abstract
A "hyper-redundant" manipulator is a redundant manipulator with a large or infinite relative degree of redundancy. This paper presents a novel approach to the forward and inverse kinematics of these manipulators which is based on the differential geometry of curves. In this method, a 'backbone curve' is defined to capture the essential geometric features of the hyper-redundant manipulator. The backbone curve's intrinsic geometric functions are restricted to a modal form in order to resolve the hyper-redundancy. The approach is directly applicable to manipulators with continuous morphology, and can be extended to manipulators with a finite number of discrete links.
Additional Information
© Springer-Verlag Wien 1991.Additional details
- Eprint ID
- 107702
- DOI
- 10.1007/978-3-7091-4433-6_44
- Resolver ID
- CaltechAUTHORS:20210123-175509758
- Created
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2021-01-28Created from EPrint's datestamp field
- Updated
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2021-11-16Created from EPrint's last_modified field