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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

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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
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Additional Information:© 1992 IEEE. Date of Current Version: 06 August 2002.
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INSPEC Accession Number4358961
Record Number:CaltechAUTHORS:20120316-085509113
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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:
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:29743
Deposited By: Ruth Sustaita
Deposited On:16 Mar 2012 17:06
Last Modified:26 Dec 2012 14:57

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