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A General Numerical Method for Hyper-Redundant Manipulator Inverse Kinematics

Chirikjian, Gregory S. (1993) A General Numerical Method for Hyper-Redundant Manipulator Inverse Kinematics. In: Proceedings: 1993 IEEE International Conference on Robotics and Automation. IEEE Computer Society Press , Los Alamitos, CA, pp. 107-112. ISBN 0-8186-3450-2

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Hyper-redundant robots have a very large or infinite degree of kinematic redundancy. A generalized resolved-rate technique for solving hyper-redundant manipulator inverse kinematics using a backbone curve is introduced. This method is applicable even in cases when explicit representation of the backbone curve intrinsic geometry cannot be written in closed form. Problems of end-effector trajectory tracking which were previously intractable can now be handled with this technique. Examples include configurations generated using the calculus of variations. The method is naturally parallelizable for fast digital and/or analog computation.

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Additional Information:© 1993 IEEE. Date of Current Version: 06 August 2002.
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INSPEC Accession Number 4690857
Record Number:CaltechAUTHORS:20120309-135006916
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Official Citation:Chirikjian, G.S.; , "A general numerical method for hyper-redundant manipulator inverse kinematics," Robotics and Automation, 1993. Proceedings., 1993 IEEE International Conference on , vol., no., pp.107-112 vol.3, 2-6 May 1993 doi: 10.1109/ROBOT.1993.291863 URL:
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:29671
Deposited By: Ruth Sustaita
Deposited On:12 Mar 2012 20:06
Last Modified:26 Dec 2012 14:56

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