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Kinematics of Hyper-Redundant Manipulators

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.

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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.

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Additional Information:© Springer-Verlag Wien 1991.
Record Number:CaltechAUTHORS:20210123-175509758
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Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:107702
Deposited By: Rebecca Minjarez
Deposited On:28 Jan 2021 16:37
Last Modified:16 Nov 2021 19:05

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