| Autor: |
Ana I. Pereira, Mario Saenz Espinoza, José Gonçalves |
| Rok vydání: |
2012 |
| Předmět: |
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| Zdroj: |
AIP Conference Proceedings. |
| ISSN: |
0094-243X |
| DOI: |
10.1063/1.4756263 |
| Popis: |
The present work describes and compares several approaches applied to compute the inverse kinematics of a ten degrees of freedom hyper-redundant robot. The proposed approaches are based on an exhaustive method and several erroroptimization algorithms. The algorithms’ performance was evaluated based on two criteria: computational processing time and final actuator positioning error. The results obtained show that for a small number of modules (less or equal to four), the exhaustive method provides the best problem solution: acceptable computational processing time as well as minimum error. However, for larger number of modules, the error-optimization approach has far better performance regarding the error to processing time ratio. The mentioned hyper-redundant robot was projected to be used in biomedical applications. The authors would like to thank the financial support from FEDER COMPETE and FCT Project FCOMP-01-0124-FEDER-022674. |
| Databáze: |
OpenAIRE |
| Externí odkaz: |
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