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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 http://resolver.caltech.edu/CaltechAUTHORS:20120309-135006916

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Abstract

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.


Item Type:Book Section
Related URLs:
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http://dx.doi.org/10.1109/ROBOT.1993.291863DOIUNSPECIFIED
http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=291863PublisherUNSPECIFIED
Additional Information:© 1993 IEEE. Date of Current Version: 06 August 2002.
Other Numbering System:
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INSPEC Accession Number 4690857
Record Number:CaltechAUTHORS:20120309-135006916
Persistent URL:http://resolver.caltech.edu/CaltechAUTHORS:20120309-135006916
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: http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=291863&isnumber=7227
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:29671
Collection:CaltechAUTHORS
Deposited By: Ruth Sustaita
Deposited On:12 Mar 2012 20:06
Last Modified:26 Dec 2012 14:56

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