Inverse kinematics of a 10 DOF modular hyper-redundant robot resorting to exhaustive and error-optimization methods: a comparative study

Sáenz Espinoza, Mario; Gonçalves, José; Leitão, Paulo; González Sánchez, José Luis; Herreros, Alberto

http://hdl.handle.net/10198/9649

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Authors

Sáenz Espinoza, Mario

Gonçalves, José

Leitão, Paulo

González Sánchez, José Luis

Herreros, Alberto

Abstract(s)

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 erroroptimization 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

Hyper-redundant robot Inverse kinematics

URI

http://hdl.handle.net/10198/9649

Citation

Sáenz Espinoza, Mario; Gonçalves, José; Leitão, Paulo; González Sánchez, José Luis; Herreros, Alberto (2012). Inverse kinematics of a 10 DOF modular hyper-redundant robot resorting to exhaustive and error-optimization methods: a comparative study. In Brazilian Robotics Symposium and Latin American Robotics Symposium. Fortaleza, Ceará, Brazil. p.125-130