Variable Dimensional Scaling Method: A Novel Method for Path Planning and Inverse Kinematics

Variable Dimensional Scaling Method: A Novel Method for Path Planning and Inverse Kinematics

Traditional methods for solving the inverse kinematics of a hyper-redundant manipulator (HRM) can only plan the path of the end-effector with a complicated solving process, where obstacle avoidance is also not considered. To solve the above problems, a novel method for solving inverse kinematics of...

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Bibliographic Details
Main Authors: Longfei Jia, Zhiyuan Yu, Haiping Zhou, Zhe Pan, Yangsheng Ou, Yaxing Guo, Yuping Huang
Format: Article
Language:English
Published: MDPI AG 2022-11-01
Series:Machines
Subjects:
variable dimension scaling method
path planning
inverse kinematics
obstacle avoidance
hyper-redundant manipulator
Online Access:https://www.mdpi.com/2075-1702/10/11/1030

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