scientific article; zbMATH DE number 1301652

MaRDI QIDQ4246859zbMATH OpenFDO

Authors Joel W. Burdick, Gregory S. Chirikjian

Publication date 13 August 2000

zbMATH Keywords

30 degree-of-freedom planar robotbackbone curvehyper-redundancy resolution problemkinematic redundancyoptimal hyper-redundancy resolutiontask planning

Mathematics Subject Classification ID

Research exposition (monographs, survey articles) pertaining to mechanics of particles and systems (70-02) Kinematics of mechanisms and robots (70B15)

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(9)

• Solving the kinematics and dynamics of a modular spatial hyper-redundant manipulator by means of screw theory
• Parallel VLSI architectures for real-time kinematics of redundant robots
• Three degrees-of-freedom joint for spatial hyper-redundant robots
• Inverse kinematics of planar redundant manipulators via virtual links with configuration index
• A general solution for the position, velocity, and acceleration of hyperredundant planar manipulators
• Rapid Recursive Structure Redesign for Improved Dynamics of a Single Link Robot
• An improved mathematical model for hyper redundant hybrid mechanism based on the Lagrange method
• Kinematics of multiple-arm robots with symmetric tasks
• A real-time algorithm for simulation of flexible objects and hyper-redundant manipulators

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