A new Geometrical Method for the Inverse Kinematics of the Hyper-Redundant Manipulators

Aimed at the inverse kinematics of hyper-redundant planar manipulators, a new and simple geometrical method was proposed in this paper. The proposed method can obtain a optimal solution of the inverse manipulators with less computations. Some disadvantages of the existing methods were overcome by the proposed method. The proposed method can be applied to any planar manipulators with n-links serially connected by revolute joints. Finally, through a detail computing procedure for a planar manipulator with five joints, the effectiveness of the proposed method was shown.