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

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...

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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