Ahamad, Syed Masrur and Khan, Md. Raisuddin and Rahman, Md. Mozasser
(2008)
Inverse Kinematics of a Hyper-Redundant Robotic Manipulator.
In: Proceedings of the 3rd International Conference on Mechatronics (ICOM '08), 18 - 22 December 2008, IIUM, Kuala Lumpur, Malaysia.
Abstract
Serial robots, Snake or, Worm robots, Tentacle robots or continuum robots are known as hyperredundant
robots and possess very large degrees of kinematics redundancy. Inverse kinematics of
hyper-redundant robots can have infinite number of solutions, which is a great challenge against
position control of such robots. Various techniques have so far been proposed for inverse kinematics
of hyper-redundant robots that involve wide range of mathematics, which include nonlinear
optimization, Artificial Neural Network, Fuzzy System etc. In this paper a new technique has been
proposed that assumes a configuration with a virtual layer, where probable singularities are included.
In the successive steps the singularities are removed following some geometric propositions to have
the final version of the configuration, which ultimately gives the inverse kinematics of the hyperredundant
robot. Mathematics involved in this new technique is the traditional inverse kinematics
solution of two link subrobots, which are selected to satisfy the geometric propositions. The proposed
technique has been tested on four link and six link robots and some comparison are made with one of
the recent techniques known as ANFIS.
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