Publication
Optimization methods for hyper-redundant robots’ inverse kinematics in biomedical applications
| dc.contributor.author | Espinoza, Mario Sáenz | |
| dc.contributor.author | Pereira, Ana I. | |
| dc.contributor.author | Gonçalves, José | |
| dc.date.accessioned | 2014-07-07T08:49:08Z | |
| dc.date.available | 2014-07-07T08:49:08Z | |
| dc.date.issued | 2012 | |
| dc.description.abstract | 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. | por |
| dc.description.sponsorship | The authors would like to thank the financial support from FEDER COMPETE and FCT Project FCOMP-01-0124-FEDER-022674. | |
| dc.identifier.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 | por |
| dc.identifier.doi | 10.1063/1.4756263 | |
| dc.identifier.isbn | 978-0-7354-1091-6 | |
| dc.identifier.uri | http://hdl.handle.net/10198/9847 | |
| dc.language.iso | por | por |
| dc.peerreviewed | yes | por |
| dc.relation | FCOMP-01-0124-FEDER-022674 | |
| dc.subject | Robotics | por |
| dc.subject | Optimization | por |
| dc.title | Optimization methods for hyper-redundant robots’ inverse kinematics in biomedical applications | por |
| dc.type | conference paper | |
| dspace.entity.type | Publication | |
| oaire.citation.conferencePlace | Kos, Greece | por |
| oaire.citation.title | ICNAAM 2012 | por |
| person.familyName | Pereira | |
| person.familyName | Gonçalves | |
| person.givenName | Ana I. | |
| person.givenName | José | |
| person.identifier | R-000-7ZW | |
| person.identifier.ciencia-id | 0716-B7C2-93E4 | |
| person.identifier.ciencia-id | 8112-DCE2-D025 | |
| person.identifier.orcid | 0000-0003-3803-2043 | |
| person.identifier.orcid | 0000-0002-5499-1730 | |
| person.identifier.rid | F-3168-2010 | |
| person.identifier.rid | B-8547-2018 | |
| person.identifier.scopus-author-id | 15071961600 | |
| person.identifier.scopus-author-id | 48361230200 | |
| rcaap.rights | restrictedAccess | por |
| rcaap.type | conferenceObject | por |
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