Chirikjian, Gregory S. and Burdick, Joel W. (1991) Kinematics of Hyper-Redundant Manipulators. In: Advances in Robot Kinematics With Emphasis on Symbolic Computation. Springer Vienna , Vienna, pp. 392-399. ISBN 9783211823026. https://resolver.caltech.edu/CaltechAUTHORS:20210123-175509758
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Abstract
A “hyper-redundant” manipulator is a redundant manipulator with a large or infinite relative degree of redundancy. This paper presents a novel approach to the forward and inverse kinematics of these manipulators which is based on the differential geometry of curves. In this method, a ‘backbone curve’ is defined to capture the essential geometric features of the hyper-redundant manipulator. The backbone curve’s intrinsic geometric functions are restricted to a modal form in order to resolve the hyper-redundancy. The approach is directly applicable to manipulators with continuous morphology, and can be extended to manipulators with a finite number of discrete links.
| Item Type: | Book Section | |||||||||
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| Additional Information: | © Springer-Verlag Wien 1991. | |||||||||
| DOI: | 10.1007/978-3-7091-4433-6_44 | |||||||||
| Record Number: | CaltechAUTHORS:20210123-175509758 | |||||||||
| Persistent URL: | https://resolver.caltech.edu/CaltechAUTHORS:20210123-175509758 | |||||||||
| Usage Policy: | No commercial reproduction, distribution, display or performance rights in this work are provided. | |||||||||
| ID Code: | 107702 | |||||||||
| Collection: | CaltechAUTHORS | |||||||||
| Deposited By: | Rebecca Minjarez | |||||||||
| Deposited On: | 28 Jan 2021 16:37 | |||||||||
| Last Modified: | 16 Nov 2021 19:05 |
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