Optimization methods for hyper-redundant robots’ inverse kinematics in biomedical applications

Espinoza, Mario Sáenz; Pereira, Ana I.; Gonçalves, José

http://hdl.handle.net/10198/9847

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Authors

Espinoza, Mario Sáenz

Pereira, Ana I.

Gonçalves, José

Abstract(s)

The present work describes and compares several approaches applied to compute the inverse kinematics of a ten 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: computational processing time and final actuator positioning error. The results obtained show that for a small number of modules (less or equal to four), the exhaustive method provides the best problem solution: acceptable computational processing time as well as minimum error. However, for larger number of modules, the error-optimization approach has far better performance regarding the error to processing time ratio. The mentioned hyper-redundant robot was projected to be used in biomedical applications.

Keywords

Robotics Optimization

URI

http://hdl.handle.net/10198/9847

Citation

Espinoza, Mário Sáenz; Pereira, Ana I.; Gonçalves, José (2012). Optimization methods for hyper-redundant robots’ inverse kinematics in biomedical applications. In ICNAAM 2012. Kos: AMER INST PHYSICS. p. 818-821. ISBN 978-0-7354-1091-6