Sáenz Espinoza, MarioGonçalves, JoséLeitão, PauloGonzález Sánchez, José LuisHerreros, Alberto2014-06-062014-06-062012Sáenz 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.125-130DOI 10.1109/SBR-LARS.2012.28http://hdl.handle.net/10198/9649This 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.engHyper-redundant robotInverse kinematicsconference object