CaltechAUTHORS
  A Caltech Library Service

Kinematically Optimal Hyper-Redundant Manipulator Configurations

Chirikjian, Gregory S. and Burdick, Joel W. (1992) Kinematically Optimal Hyper-Redundant Manipulator Configurations. In: 1992 IEEE International Conference on Robotics and Automation, Proceedings. IEEE Computer Society , Los Alamitos, CA, pp. 415-420. ISBN 0-8186-2720-4 http://resolver.caltech.edu/CaltechAUTHORS:20120316-085509113

[img]
Preview
PDF - Published Version
See Usage Policy.

384Kb

Use this Persistent URL to link to this item: http://resolver.caltech.edu/CaltechAUTHORS:20120316-085509113

Abstract

Hyper-redundant robots have a very large or infinite degree of kinematic redundancy. The authors develop methods for determining the optimal configurations which satisfy task constraints while minimizing a weighted measure of mechanism bending and extension. These methods are based on a continuous backbone curve which captures the robot's essential macroscopic geometric features. The calculus of variations is used to develop differential equations whose solution is the optimal backbone curve shape. The optimal distribution of frames along the backbone curve is also considered.


Item Type:Book Section
Related URLs:
URLURL TypeDescription
http://dx.doi.org/10.1109/ROBOT.1992.220304 DOIUNSPECIFIED
http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=220304&tag=1PublisherUNSPECIFIED
Additional Information:© 1992 IEEE. Date of Current Version: 06 August 2002.
Other Numbering System:
Other Numbering System NameOther Numbering System ID
INSPEC Accession Number4358961
Record Number:CaltechAUTHORS:20120316-085509113
Persistent URL:http://resolver.caltech.edu/CaltechAUTHORS:20120316-085509113
Official Citation:Chirikjian, G.S.; Burdick, J.W.; , "Kinematically optimal hyper-redundant manipulator configurations ," Robotics and Automation, 1992. Proceedings., 1992 IEEE International Conference on , vol., no., pp.415-420 vol.1, 12-14 May 1992 doi: 10.1109/ROBOT.1992.220304 URL: http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=220304&isnumber=5764
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:29743
Collection:CaltechAUTHORS
Deposited By: Ruth Sustaita
Deposited On:16 Mar 2012 17:06
Last Modified:26 Dec 2012 14:57

Repository Staff Only: item control page