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

DOI10.1002/ROB.8117zbMATH Open1012.70002OpenAlexW2075834616MaRDI QIDQ4331428FDOQ4331428

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

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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)

Cited In (4)

• On the characterization of the dynamic performances of planar manipulators
• 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
• Control of manipulators with hyper degrees of freedom: Shape tracking using only joint angle information

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