Position control of a four link hyper redundant robotic manipulator
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 t...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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Asian Network for Scientific Information
2013
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| Online Access: | http://irep.iium.edu.my/29213/ http://irep.iium.edu.my/29213/1/Position_Control_of_a_Four_Link_Hyper_Redundant_Robotic_Manipulator.pdf |
| _version_ | 1848780081826103296 |
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| author | Ahmmad, Syed Masrur Khan, Md. Raisuddin Rahman, Md. Mozasser Billah, Masum |
| author_facet | Ahmmad, Syed Masrur Khan, Md. Raisuddin Rahman, Md. Mozasser Billah, Masum |
| author_sort | Ahmmad, Syed Masrur |
| building | IIUM Repository |
| collection | Online Access |
| description | 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. |
| first_indexed | 2025-11-14T15:28:00Z |
| format | Article |
| id | iium-29213 |
| institution | International Islamic University Malaysia |
| institution_category | Local University |
| language | English |
| last_indexed | 2025-11-14T15:28:00Z |
| publishDate | 2013 |
| publisher | Asian Network for Scientific Information |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | iium-292132015-08-12T03:09:58Z http://irep.iium.edu.my/29213/ Position control of a four link hyper redundant robotic manipulator Ahmmad, Syed Masrur Khan, Md. Raisuddin Rahman, Md. Mozasser Billah, Masum TA Engineering (General). Civil engineering (General) 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. Asian Network for Scientific Information 2013 Article PeerReviewed application/pdf en http://irep.iium.edu.my/29213/1/Position_Control_of_a_Four_Link_Hyper_Redundant_Robotic_Manipulator.pdf 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 http://scialert.net/abstract/?doi=ajsr.2013.67.77 10.3923/ajsr.2013.67.77 |
| spellingShingle | TA Engineering (General). Civil engineering (General) Ahmmad, Syed Masrur Khan, Md. Raisuddin Rahman, Md. Mozasser Billah, Masum Position control of a four link hyper redundant robotic manipulator |
| title | Position control of a four link hyper redundant robotic manipulator |
| title_full | Position control of a four link hyper redundant robotic manipulator |
| title_fullStr | Position control of a four link hyper redundant robotic manipulator |
| title_full_unstemmed | Position control of a four link hyper redundant robotic manipulator |
| title_short | Position control of a four link hyper redundant robotic manipulator |
| title_sort | position control of a four link hyper redundant robotic manipulator |
| topic | TA Engineering (General). Civil engineering (General) |
| url | http://irep.iium.edu.my/29213/ http://irep.iium.edu.my/29213/ http://irep.iium.edu.my/29213/ http://irep.iium.edu.my/29213/1/Position_Control_of_a_Four_Link_Hyper_Redundant_Robotic_Manipulator.pdf |