Inverse kinematics of a 10 DOF modular hyper-redundant robot resorting to exhaustive and error-optimization methods: a comparative study

Autor:	Paulo Leitão, José Gonçalves, Alberto Herreros, Mario Saenz Espinoza, Jose Luis Gonzalez Sanchez
Jazyk:	angličtina
Rok vydání:	2012
Předmět:	Robot kinematics Hyper-redundant robot Inverse kinematics business.industry Computer science Degrees of freedom (statistics) Robotics Kinematics Modular design Computer Science::Robotics Robot Artificial intelligence business Actuator Algorithm Simulation
Popis:	This paper describes and compares several approaches applied to compute the inverse kinematics of a 10 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: computing time and final actuator positioning error. The mentioned hyper-redundant robot was projected to be used in biomedical applications. This work is part-funded by the ERDF European Regional Development Fund through the COMPETE Programme (operational programme for competitiveness) and by National Funds through the FCT - Portuguese Foundation for Science and Technology within project FCOMP - 01-0124-FEDER-022701.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_dedup___::c3d9928debdc1a31fe0062244851876a http://hdl.handle.net/10198/9649 Zobrazit plný text záznamu