Staff View: An Improved Inverse Kinematic and Velocity Solution for Spatial Hyper-Redundant Robots.

An Improved Inverse Kinematic and Velocity Solution for Spatial Hyper-Redundant Robots.

Bibliographic Details
Main Authors:	Fahimi, Farbod., Ashrafiuon, Hashem., Nataraj, C.
Format:	Villanova Faculty Authorship
Language:	English
Published:	2002
Online Access:	http://ezproxy.villanova.edu/login?url=https://digital.library.villanova.edu/Item/vudl:173864

Main Authors:

Fahimi, Farbod., Ashrafiuon, Hashem., Nataraj, C.

Format:

Villanova Faculty Authorship

Language:

English

Published:

2002

Online Access:

http://ezproxy.villanova.edu/login?url=https://digital.library.villanova.edu/Item/vudl:173864

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spelling	An Improved Inverse Kinematic and Velocity Solution for Spatial Hyper-Redundant Robots. Fahimi, Farbod. Ashrafiuon, Hashem. Nataraj, C. 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 effects of the mode shapes and the slope of the backbone curve at the starting point on theworkspace are studied. It is shown that the usage of conventional mode shapes limits the workspace of the hyper-redundant arm. By introducing new mode shapes, an improvedworkspace is obtained. A simple and efficient recursive fitting method is introduced to avoid complications involved with solving systems of nonlinear algebraic equations. This method also guarantees the existence of solutions for the inverse kinematic problem at the velocity level. Velocity properties of the backbone curve are investigated and the inverse velocity propagation is solved for the spatial hyper-redundant arm. The velocity propagation scheme is recursive and is efficiently applicable to any number of links. 2002 Villanova Faculty Authorship vudl:173864 IEEE Transactions on Robotics and Automation 18(1), February 2002, 103-107. en
dc.title_txt_mv	An Improved Inverse Kinematic and Velocity Solution for Spatial Hyper-Redundant Robots.
dc.creator_txt_mv	Fahimi, Farbod. Ashrafiuon, Hashem. Nataraj, C.
dc.description_txt_mv	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 effects of the mode shapes and the slope of the backbone curve at the starting point on theworkspace are studied. It is shown that the usage of conventional mode shapes limits the workspace of the hyper-redundant arm. By introducing new mode shapes, an improvedworkspace is obtained. A simple and efficient recursive fitting method is introduced to avoid complications involved with solving systems of nonlinear algebraic equations. This method also guarantees the existence of solutions for the inverse kinematic problem at the velocity level. Velocity properties of the backbone curve are investigated and the inverse velocity propagation is solved for the spatial hyper-redundant arm. The velocity propagation scheme is recursive and is efficiently applicable to any number of links.
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author	Fahimi, Farbod. Ashrafiuon, Hashem. Nataraj, C.
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author_facet	Fahimi, Farbod. Ashrafiuon, Hashem. Nataraj, C.
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description	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 effects of the mode shapes and the slope of the backbone curve at the starting point on theworkspace are studied. It is shown that the usage of conventional mode shapes limits the workspace of the hyper-redundant arm. By introducing new mode shapes, an improvedworkspace is obtained. A simple and efficient recursive fitting method is introduced to avoid complications involved with solving systems of nonlinear algebraic equations. This method also guarantees the existence of solutions for the inverse kinematic problem at the velocity level. Velocity properties of the backbone curve are investigated and the inverse velocity propagation is solved for the spatial hyper-redundant arm. The velocity propagation scheme is recursive and is efficiently applicable to any number of links.
title	An Improved Inverse Kinematic and Velocity Solution for Spatial Hyper-Redundant Robots.
title_full	An Improved Inverse Kinematic and Velocity Solution for Spatial Hyper-Redundant Robots.
title_fullStr	An Improved Inverse Kinematic and Velocity Solution for Spatial Hyper-Redundant Robots.
title_full_unstemmed	An Improved Inverse Kinematic and Velocity Solution for Spatial Hyper-Redundant Robots.
title_short	An Improved Inverse Kinematic and Velocity Solution for Spatial Hyper-Redundant Robots.
title_sort	improved inverse kinematic and velocity solution for spatial hyper-redundant robots.
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An Improved Inverse Kinematic and Velocity Solution for Spatial Hyper-Redundant Robots.
Fahimi, Farbod.
Ashrafiuon, Hashem.
Nataraj, C.
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 effects of the mode shapes and the slope of the backbone curve at the starting point on theworkspace are studied. It is shown that the usage of conventional mode shapes limits the workspace of the hyper-redundant arm. By introducing new mode shapes, an improvedworkspace is obtained. A simple and efficient recursive fitting method is introduced to avoid complications involved with solving systems of nonlinear algebraic equations. This method also guarantees the existence of solutions for the inverse kinematic problem at the velocity level. Velocity properties of the backbone curve are investigated and the inverse velocity propagation is solved for the spatial hyper-redundant arm. The velocity propagation scheme is recursive and is efficiently applicable to any number of links.
2002
Villanova Faculty Authorship
vudl:173864
IEEE Transactions on Robotics and Automation 18(1), February 2002, 103-107.
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An Improved Inverse Kinematic and Velocity Solution for Spatial Hyper-Redundant Robots.

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Fahimi, Farbod.
Ashrafiuon, Hashem.
Nataraj, C.

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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 effects of the mode shapes and the slope of the backbone curve at the starting point on theworkspace are studied. It is shown that the usage of conventional mode shapes limits the workspace of the hyper-redundant arm. By introducing new mode shapes, an improvedworkspace is obtained. A simple and efficient recursive fitting method is introduced to avoid complications involved with solving systems of nonlinear algebraic equations. This method also guarantees the existence of solutions for the inverse kinematic problem at the velocity level. Velocity properties of the backbone curve are investigated and the inverse velocity propagation is solved for the spatial hyper-redundant arm. The velocity propagation scheme is recursive and is efficiently applicable to any number of links.

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2002

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Fahimi, Farbod.
Ashrafiuon, Hashem.
Nataraj, C.

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Ashrafiuon, Hashem.
Nataraj, C.
An Improved Inverse Kinematic and Velocity Solution for Spatial Hyper-Redundant Robots.

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Ashrafiuon, Hashem.
Nataraj, C.

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An Improved Inverse Kinematic and Velocity Solution for Spatial Hyper-Redundant Robots.

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An Improved Inverse Kinematic and Velocity Solution for Spatial Hyper-Redundant Robots.

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An Improved Inverse Kinematic and Velocity Solution for Spatial Hyper-Redundant Robots.

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An Improved Inverse Kinematic and Velocity Solution for Spatial Hyper-Redundant Robots.

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An Improved Inverse Kinematic and Velocity Solution for Spatial Hyper-Redundant Robots.

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improved inverse kinematic and velocity solution for spatial hyper-redundant robots.

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An Improved Inverse Kinematic and Velocity Solution for Spatial Hyper-Redundant Robots.

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