Hyper redundant manipulator using compound three-bar linkages

IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM

Volumn 1, Issue , 2001, Pages 8-13

  Koganezawa, K ^a   Kinoshita, T ^a  

^a TOKAI UNIVERSITY   (Japan)

Author keywords

Constraint stabilization; Hyper redundant manipulator; Inverse kinematics

Indexed keywords

ALGORITHMS; COMPUTER SIMULATION; CONSTRAINT THEORY; DEGREES OF FREEDOM (MECHANICS); INVERSE KINEMATICS; RUNGE KUTTA METHODS; TORQUE;

COMPOUND THREE-BAR LINKAGES (CTL); FORWARD KINEMATICS; HYPER REDUNDANT MANIPULATORS (HRM);

REDUNDANT MANIPULATORS;

EID: 0034858978     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (9)

1. Stabilization of constraints and integrals of motion in dynamical systems
2. Design and experiments with a 30 DOF robot
3. A fast singularity - Free solution of inverse kinematics with dimensionally homogeneous jacobian for serial-link redundant manipulators
4. ODE methods for solving the multibody dynamics with constraints
5. An obstacle avoidance scheme for hyper-redundant manipulators: Global motion planning in posture space
6. Shape control of manipulators with hyper degrees of freedom
7. Manipulability and stability of a tentacle based robot manipulator