Position control of a four link hyper redundant robotic manipulator

Ahmmad, Syed Masrur and Khan, Md. Raisuddin and Rahman, Md. Mozasser and Billah, Masum (2013) Position control of a four link hyper redundant robotic manipulator. Asian Journal of Scientific Research, 6 (1). pp. 67-77. ISSN 1992-1454

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Abstract

Hyper-Redundant robotic manipulators like Serial robots, Snake robots, Tentacle robots or Continuum robots have very large number of degrees of kinematics redundancy. Position control of such a robotic manipulator comprising of more than three links and articulated joints is a big challenge due to the involvement of large number of trigonometric terms in its inverse kinematics equations. In this paper, a simple algorithm for the inverse kinematics solution (IKS) of a four-link serial robotic manipulator has been proposed, which is then validated experimentally. The proposed method divides the robot into two two-link virtual sub-robot and solves the inverse kinematics analytically for joint variables of each sub-robot successively. A validation experiment was conducted on a 4-link prototype to check the validity of the proposed algorithm. The experimental results showed satisfactory results with good repeatability.

Item Type:	Article (Journal)
Additional Information:	3627/29213
Uncontrolled Keywords:	hyper redundant, robotic manipulator, kinematics
Subjects:	T Technology > TA Engineering (General). Civil engineering (General)
Kulliyyahs/Centres/Divisions/Institutes (Can select more than one option. Press CONTROL button):	Kulliyyah of Engineering
Depositing User:	Dr. Md. Raisuddin Khan
Date Deposited:	27 Feb 2013 09:28
Last Modified:	12 Aug 2015 11:09
URI:	http://irep.iium.edu.my/id/eprint/29213

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