A general solution for the position, velocity, and acceleration of hyperredundant planar manipulators

DOI10.1002/ROB.8117MaRDI QIDQ4331428zbMATHOpenAlexFDO

Authors Farshid Maghami Asl, Hashem Ashrafiuon, C. Nataraj

Publication date 5 June 2003

Published in Journal of Robotic Systems (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1002/rob.8117

zbMATH Keywords

accelerationvelocityinverse kinematic problemoptimization of joint angle distributionplanar hyperredundant manipulatorsswitching actuationvirtual subchains

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15) Robot dynamics and control of rigid bodies (70E60)

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• A real-time algorithm for simulation of flexible objects and hyper-redundant manipulators
• Solving the kinematics and dynamics of a modular spatial hyper-redundant manipulator by means of screw theory
• On the characterization of the dynamic performances of planar manipulators
• A novel inverse kinematics algorithm using the Kepler oval for continuum robots
• Control of manipulators with hyper degrees of freedom: Shape tracking using only joint angle information

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