Title :
Inverse Kinematics of a 10 DOF Modular Hyper-Redundant Robot Resorting to Exhaustive and Error-Optimization Methods: A Comparative Study
Author :
Espinoza, Mario Sáenz ; Gonçalves, José ; Leitão, Paulo ; Sánchez, José Luis González ; Herreros, Alberto
Author_Institution :
Polytech. Inst. of Braganca, Braganca, Portugal
Abstract :
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 error optimization 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.
Keywords :
actuators; flexible manipulators; optimisation; position control; redundant manipulators; 10-DOF modular hyper-redundant robot; actuator positioning error; biomedical applications; computing time; error optimization method; exhaustive method; hyper-redundant manipulators; inverse kinematics; Equations; Kinematics; Manipulators; Mathematical model; Optimization; Vectors; Biomedical Applications; Robotics;
Conference_Titel :
Robotics Symposium and Latin American Robotics Symposium (SBR-LARS), 2012 Brazilian
Conference_Location :
Fortaleza
Print_ISBN :
978-1-4673-4650-4
DOI :
10.1109/SBR-LARS.2012.28
