Title :
Direct kinematics of manipulators with hyper degrees of freedom and Frenet-Serret formula
Author :
Mochiyama, Hiromi ; Shimemura, Etsujiro ; Kobayashi, Hisato
Author_Institution :
Sch. of Inf. Sci., Japan Adv. Inst. of Sci. & Technol., Ishikawa, Japan
Abstract :
The kinematic structure of a manipulator with hyper degrees of freedom is discussed from a theoretical viewpoint. Conditions for the kinematic structure are derived from a geometrically natural requirement that its direct kinematics tends to Frenet-Serret formula as its number of degrees of freedom increases. It is shown that the manipulator has to have two-degree-of-freedom joints, each of which consists of a twist and a one-directional bend
Keywords :
computational geometry; convergence; manipulator kinematics; Frenet-Serret formula; convergence; direct kinematics; hyper degrees of freedom robots; manipulators; one-directional bend; twist; Hardware; Information science; Kinematics; Manipulators; Robots;
Conference_Titel :
Robotics and Automation, 1998. Proceedings. 1998 IEEE International Conference on
Conference_Location :
Leuven
Print_ISBN :
0-7803-4300-X
DOI :
10.1109/ROBOT.1998.677392
