Inverse Kinematics of a 10 DOF Modular Hyper-Redundant Robot Resorting to Exhaustive and Error-Optimization Methods: A Comparative Study

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.