A new geometrical approach to solve inverse kinematics of hyper redundant robots with variable link length

• Main Authors: Jamali, Annisa, Khan, Md. Raisuddin, Rahman, Md. Mozasser
• Format: Conference or Workshop Item
• Language: English
• Published: 2011
• Subjects: TJ210.2 Mechanical devices and figures. Automata. Ingenious mechanism. Robots (General)
• Online Access: http://irep.iium.edu.my/3052/1/%2810.1109-ICOM.2011.5937183%2958C.pdf; http://irep.iium.edu.my/3052/; http://ieeexplore.ieee.org/search/srchabstract.jsp?tp=&arnumber=5937183&queryText%3DA+new+geometrical+approach+to+solve+inverse+kinematics+of+hyper+redundant+robots%26openedRefinements%3D*%26filter%3DAND%28NOT%284283010803%29%29%26searchField%3DSearch+All

In this paper a new approach that generates a general algorithm for n-link hyper-redundant robot is presented. This method uses repetitively the basic inverse kinematics solution of a 2- link robot on some virtual links,where the virtual links are defined following some geometric proposition. Th...