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IEEE Transactions on Robotics and Automation

Volumn 18, Issue 1, 2002, Pages 103-107

An improved inverse kinematic and velocity solution for spatial hyper-redundant robots

(3) Fahimi, Farbod a Ashrafiuon, Hashem a Nataraj, C a

a Villanova University (United States)

Author keywords

Backbone curve; Hyper redundant; Inverse kinematics; Modal approach; Robot workspace

Indexed keywords

COLLISION AVOIDANCE; DEGREES OF FREEDOM (MECHANICS); END EFFECTORS; INVERSE KINEMATICS; MATHEMATICAL MODELS; MOTION CONTROL; NONLINEAR EQUATIONS; POSITION CONTROL; RECURSIVE FUNCTIONS; ROBOTIC ARMS; UNIVERSAL JOINTS; VELOCITY CONTROL;

BACKBONE CURVE; DISCRETE LINKS; INVERSE VELOCITY PROPAGATION; MODAL APPROACH; RECURSIVE FITTING METHOD; ROBOT WORKSPACE; SPATIAL HYPER REDUNDANT ROBOTS;

REDUNDANT MANIPULATORS;

EID: 0036476935 PISSN: 1042296X EISSN: None Source Type: Journal
DOI: 10.1109/70.988980 Document Type: Article

Times cited : (52)

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