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

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5 Author(s)
Espinoza, M.S. ; Polytech. Inst. of Braganca, Braganca, Portugal ; Goncalves, J. ; Leitao, P. ; Sanchez, J.L.G.
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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.

Published in:

Robotics Symposium and Latin American Robotics Symposium (SBR-LARS), 2012 Brazilian

Date of Conference:

16-19 Oct. 2012