Geometrical approach of planar hyper-redundant manipulators: inverse kinematics, path planning and workspace

• المؤلفون الرئيسيون: Yahya, S., Moghavvemi, M., Mohamed, H.A.F.
• التنسيق: مقال
• منشور في: Elsevier 2011
• الموضوعات: TA Engineering (General). Civil engineering (General)
• الوصول للمادة أونلاين: http://eprints.um.edu.my/9655/
• المؤسسة: Universiti Malaya

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...