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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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dc.contributor.authorSáenz Espinoza, Mario
dc.contributor.authorGonçalves, José
dc.contributor.authorLeitão, Paulo
dc.contributor.authorGonzález Sánchez, José Luis
dc.contributor.authorHerreros, Alberto
dc.date.accessioned2014-06-06T10:27:05Z
dc.date.available2014-06-06T10:27:05Z
dc.date.issued2012
dc.description.abstractThis 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.por
dc.description.sponsorshipThis work is part-funded by the ERDF European Regional Development Fund through the COMPETE Programme (operational programme for competitiveness) and by National Funds through the FCT - Portuguese Foundation for Science and Technology within project FCOMP - 01-0124-FEDER-022701.
dc.identifier.citationSáenz 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.125-130por
dc.identifier.otherDOI 10.1109/SBR-LARS.2012.28
dc.identifier.urihttp://hdl.handle.net/10198/9649
dc.language.isoengpor
dc.peerreviewedyespor
dc.relationFCOMP - 01-0124-FEDER- 022701
dc.subjectHyper-redundant robotpor
dc.subjectInverse kinematicspor
dc.titleInverse kinematics of a 10 DOF modular hyper-redundant robot resorting to exhaustive and error-optimization methods: a comparative studypor
dc.typeconference paper
dspace.entity.typePublication
oaire.citation.conferencePlaceFortaleza, Ceará, Brazilpor
oaire.citation.endPage130por
oaire.citation.startPage125por
oaire.citation.titleBrazilian Robotics Symposium and Latin American Robotics Symposiumpor
person.familyNameGonçalves
person.familyNameLeitão
person.givenNameJosé
person.givenNamePaulo
person.identifierR-000-7ZW
person.identifierA-8390-2011
person.identifier.ciencia-id8112-DCE2-D025
person.identifier.ciencia-id8316-8F13-DA71
person.identifier.orcid0000-0002-5499-1730
person.identifier.orcid0000-0002-2151-7944
person.identifier.ridB-8547-2018
person.identifier.scopus-author-id48361230200
person.identifier.scopus-author-id35584388900
rcaap.rightsrestrictedAccesspor
rcaap.typeconferenceObjectpor
relation.isAuthorOfPublication6a3b0b39-7fe9-4450-94f4-ced3941947da
relation.isAuthorOfPublication68d9eb25-ad4f-439b-aeb2-35e8708644cc
relation.isAuthorOfPublication.latestForDiscovery68d9eb25-ad4f-439b-aeb2-35e8708644cc

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