A new geometrical approach to solve inverse kinematics of hyper redundant robots with variable link length

Jamali, Annisa and Khan, Md. Raisuddin and Rahman, Md. Mozasser (2011) A new geometrical approach to solve inverse kinematics of hyper redundant robots with variable link length. In: 4th International Conference on Mechatronics (ICOM) , 17-19 May, 2011 , Kuala Lumpur.

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Abstract

In this paper a new approach that generates a general algorithm for n-link hyper-redundant robot is presented. This method uses repetitively the basic inverse kinematics solution of a 2- link robot on some virtual links,where the virtual links are defined following some geometric proposition. Thus, it eliminates the mathematical complexity in computing inverse kinematics solution of n-link hyper redundant robot. Further, this approach can handle planar manipulator with variable links eliminating singularity. Numerical simulations for planar hyper redundant models are presented in order to illustrate the competency of the model.

Item Type:	Conference or Workshop Item (Full Paper)
Additional Information:	3627/3052
Uncontrolled Keywords:	Robot, Hyper-redundant, Variable length links, Inverse kinematics
Subjects:	T Technology > TJ Mechanical engineering and machinery > TJ210.2 Mechanical devices and figures. Automata. Ingenious mechanism. Robots (General)
Kulliyyahs/Centres/Divisions/Institutes (Can select more than one option. Press CONTROL button):	Kulliyyah of Engineering > Department of Mechatronics Engineering
Depositing User:	Dr. Md. Raisuddin Khan
Date Deposited:	13 Oct 2011 09:51
Last Modified:	13 Oct 2011 09:51
URI:	http://irep.iium.edu.my/id/eprint/3052

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