A geometrical inverse kinematics method for hyper-redundant manipulators

• Main Authors: Yahya, S., Mohamed, H.A.F., Moghavvemi, M., Yang, S.S.
• Format: Conference or Workshop Item
• Published: 2008
• Subjects: TA Engineering (General). Civil engineering (General)
• Online Access: http://eprints.um.edu.my/9688/
• Institution: Universiti Malaya

Hyper-redundant manipulators have large number of kinematic degrees of freedom, thus processing some unconventional features such as the ability to enter a narrow space while avoiding obstacles. To solve the problem of multi-solution caused by redundancy, a geometrical method is presented in this pa...