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Published May 1992 | Published
Book Section - Chapter Open

Kinematically Optimal Hyper-Redundant Manipulator Configurations


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.

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© 1992 IEEE. Date of Current Version: 06 August 2002.

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August 20, 2023
August 20, 2023