Browsing by Author "Herreros, Alberto"
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- Inverse kinematics of a 10 DOF modular hyper-redundant robot resorting to exhaustive and error-optimization methods: a comparative studyPublication . Sáenz Espinoza, Mario; Gonçalves, José; Leitão, Paulo; González Sánchez, José Luis; Herreros, AlbertoThis 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.