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Parallel formulation of the inverse kinematics of modular hyper-redundant manipulators

Chirikjian, Gregory S. and Burdick, Joel W. (1991) Parallel formulation of the inverse kinematics of modular hyper-redundant manipulators. In: 1991 IEEE International Conference on Robotics and Automation, Proceedings. IEEE Computer Society Press , Los Alamitos, CA, pp. 708-713. ISBN 0-8186-2163-X http://resolver.caltech.edu/CaltechAUTHORS:20120418-091615886

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Abstract

A method is presented for generating inverse kinematic solutions for hyper-redundant manipulators of fixed or variable length. This method uses a continuous backbone curve to capture the macroscopic geometric features of the manipulator. The inverse kinematics of the backbone curve can be used directly to specify the geometry of a wide variety of hyper-redundant manipulator morphologies. The hyper-redundant manipulators are broken nonredundant segments which have closed form inverse kinematic solutions. The kinematic constraints for each segment are specified independently by the backbone curve, and the kinematics of the total manipulator can therefore be solved in parallel. The method is demonstrated with planar and spatial variable geometry truss manipulators.


Item Type:Book Section
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http://dx.doi.org/10.1109/ROBOT.1991.131667DOIUNSPECIFIED
http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=131667PublisherUNSPECIFIED
Additional Information:© 1991 IEEE. Date of Current Version: 06 August 2002. This work was sponsored in part by a NASA Graduate Student Researchers Program fellowship (for the first author), and the Caltech President's Fund, #PF-331.
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NASA Graduate Student Researchers Program Fellowship UNSPECIFIED
Caltech President's FundPF-331
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INSPEC Accession Number4086655
Record Number:CaltechAUTHORS:20120418-091615886
Persistent URL:http://resolver.caltech.edu/CaltechAUTHORS:20120418-091615886
Official Citation:Chirikjian, G.S.; Burdick, J.W.; , "Parallel formulation of the inverse kinematics of modular hyper-redundant manipulators," Robotics and Automation, 1991. Proceedings., 1991 IEEE International Conference on , vol., no., pp.708-713 vol.1, 9-11 Apr 1991 doi: 10.1109/ROBOT.1991.131667 URL: http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=131667&isnumber=3640
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:30152
Collection:CaltechAUTHORS
Deposited By: Tony Diaz
Deposited On:18 Apr 2012 17:56
Last Modified:26 Dec 2012 15:04

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