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

• Main Authors: Yahya, S., Moghavvemi, M., Mohamed, H.A.F.
• Format: Article
• Published: Elsevier 2011
• Subjects: TA Engineering (General). Civil engineering (General)
• Online Access: http://eprints.um.edu.my/9655/
• Institution: 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...