Inverse Kinematics of a Hyper-Redundant Robotic Manipulator

• Main Authors: Ahamad, Syed Masrur, Khan, Md. Raisuddin, Rahman, Md. Mozasser
• Format: Conference or Workshop Item
• Language: English
• Published: 2008
• Subjects: TJ210.2 Mechanical devices and figures. Automata. Ingenious mechanism. Robots (General)
• Online Access: http://irep.iium.edu.my/7038/1/ICOM08.pdf; http://irep.iium.edu.my/7038/; http://www.iium.edu.my/ICOM/2008/

Serial robots, Snake or, Worm robots, Tentacle robots or continuum robots are known as hyperredundant robots and possess very large degrees of kinematics redundancy. Inverse kinematics of hyper-redundant robots can have infinite number of solutions, which is a great challenge against position con...