Geometrical approach of planar hyper-redundant manipulators: inverse kinematics, path planning and workspace
A new method for inverse kinematics for hyper-redundant manipulators is proposed in this paper to plan the path of the end-effector. The basic idea is that for a given smooth path consisting of points close enough to each other; computing the inverse kinematics for these points is carried out geomet...
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| Main Authors: | , , |
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| Format: | Article |
| Published: |
Elsevier
2011
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| Subjects: | |
| Online Access: | http://eprints.um.edu.my/9655/ |
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| Institution: | Universiti Malaya |