A geometrical inverse kinematics method for hyper-redundant manipulators
Hyper-redundant manipulators have large number of kinematic degrees of freedom, thus processing some unconventional features such as the ability to enter a narrow space while avoiding obstacles. To solve the problem of multi-solution caused by redundancy, a geometrical method is presented in this pa...
| Main Authors: | , , , |
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| Format: | Conference or Workshop Item |
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2008
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| _version_ | 1825719747530981376 |
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| author | Yahya, S. Mohamed, H.A.F. Moghavvemi, M. Yang, S.S. |
| author_facet | Yahya, S. Mohamed, H.A.F. Moghavvemi, M. Yang, S.S. |
| author_sort | Yahya, S. |
| collection | UM |
| description | Hyper-redundant manipulators have large number of kinematic degrees of freedom, thus processing some unconventional features such as the ability to enter a narrow space while avoiding obstacles. To solve the problem of multi-solution caused by redundancy, a geometrical method is presented in this paper. This proposed method finds one optimal solution to the inverse kinematics of redundant or hyper redundant manipulators from these infinite solutions with fewer computations. This method can be used for any planar n-serial manipulators. Experiments are conducted 3-links redundant manipulator and 10-links hyper-redundant manipulator to demonstrate the effectiveness of this proposed method. |
| first_indexed | 2024-03-06T05:24:29Z |
| format | Conference or Workshop Item |
| id | um.eprints-9688 |
| institution | Universiti Malaya |
| last_indexed | 2024-03-06T05:24:29Z |
| publishDate | 2008 |
| record_format | dspace |
| spelling | um.eprints-96882017-11-23T02:14:15Z http://eprints.um.edu.my/9688/ A geometrical inverse kinematics method for hyper-redundant manipulators Yahya, S. Mohamed, H.A.F. Moghavvemi, M. Yang, S.S. TA Engineering (General). Civil engineering (General) Hyper-redundant manipulators have large number of kinematic degrees of freedom, thus processing some unconventional features such as the ability to enter a narrow space while avoiding obstacles. To solve the problem of multi-solution caused by redundancy, a geometrical method is presented in this paper. This proposed method finds one optimal solution to the inverse kinematics of redundant or hyper redundant manipulators from these infinite solutions with fewer computations. This method can be used for any planar n-serial manipulators. Experiments are conducted 3-links redundant manipulator and 10-links hyper-redundant manipulator to demonstrate the effectiveness of this proposed method. 2008-12 Conference or Workshop Item PeerReviewed Yahya, S. and Mohamed, H.A.F. and Moghavvemi, M. and Yang, S.S. (2008) A geometrical inverse kinematics method for hyper-redundant manipulators. In: 2008 10th International Conference on Control, Automation, Robotics and Vision, ICARCV 2008, 17 - 20 December 2008, Hanoi, Viet Nam.. |
| spellingShingle | TA Engineering (General). Civil engineering (General) Yahya, S. Mohamed, H.A.F. Moghavvemi, M. Yang, S.S. A geometrical inverse kinematics method for hyper-redundant manipulators |
| title | A geometrical inverse kinematics method for hyper-redundant manipulators |
| title_full | A geometrical inverse kinematics method for hyper-redundant manipulators |
| title_fullStr | A geometrical inverse kinematics method for hyper-redundant manipulators |
| title_full_unstemmed | A geometrical inverse kinematics method for hyper-redundant manipulators |
| title_short | A geometrical inverse kinematics method for hyper-redundant manipulators |
| title_sort | geometrical inverse kinematics method for hyper redundant manipulators |
| topic | TA Engineering (General). Civil engineering (General) |
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