A new geometrical approach to solve inverse kinematics of hyper redundant robots with variable link length
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. Th...
| Main Authors: | , , |
|---|---|
| Format: | Proceeding Paper |
| Language: | English |
| Published: |
2011
|
| Subjects: | |
| Online Access: | http://irep.iium.edu.my/3052/ http://irep.iium.edu.my/3052/1/%2810.1109-ICOM.2011.5937183%2958C.pdf |
| _version_ | 1848776091271954432 |
|---|---|
| author | Jamali, Annisa Khan, Md. Raisuddin Rahman, Md. Mozasser |
| author_facet | Jamali, Annisa Khan, Md. Raisuddin Rahman, Md. Mozasser |
| author_sort | Jamali, Annisa |
| building | IIUM Repository |
| collection | Online Access |
| description | 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. |
| first_indexed | 2025-11-14T14:24:34Z |
| format | Proceeding Paper |
| id | iium-3052 |
| institution | International Islamic University Malaysia |
| institution_category | Local University |
| language | English |
| last_indexed | 2025-11-14T14:24:34Z |
| publishDate | 2011 |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | iium-30522011-10-13T01:51:12Z http://irep.iium.edu.my/3052/ A new geometrical approach to solve inverse kinematics of hyper redundant robots with variable link length Jamali, Annisa Khan, Md. Raisuddin Rahman, Md. Mozasser TJ210.2 Mechanical devices and figures. Automata. Ingenious mechanism. Robots (General) 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. 2011-05 Proceeding Paper PeerReviewed application/pdf en http://irep.iium.edu.my/3052/1/%2810.1109-ICOM.2011.5937183%2958C.pdf 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. http://ieeexplore.ieee.org/search/srchabstract.jsp?tp=&arnumber=5937183&queryText%3DA+new+geometrical+approach+to+solve+inverse+kinematics+of+hyper+redundant+robots%26openedRefinements%3D*%26filter%3DAND%28NOT%284283010803%29%29%26searchField%3DSearch+All doi:10.1109/ICOM.2011.5937183 |
| spellingShingle | TJ210.2 Mechanical devices and figures. Automata. Ingenious mechanism. Robots (General) Jamali, Annisa Khan, Md. Raisuddin Rahman, Md. Mozasser A new geometrical approach to solve inverse kinematics of hyper redundant robots with variable link length |
| title | A new geometrical approach to solve inverse kinematics of hyper redundant robots with variable link length |
| title_full | A new geometrical approach to solve inverse kinematics of hyper redundant robots with variable link length |
| title_fullStr | A new geometrical approach to solve inverse kinematics of hyper redundant robots with variable link length |
| title_full_unstemmed | A new geometrical approach to solve inverse kinematics of hyper redundant robots with variable link length |
| title_short | A new geometrical approach to solve inverse kinematics of hyper redundant robots with variable link length |
| title_sort | new geometrical approach to solve inverse kinematics of hyper redundant robots with variable link length |
| topic | TJ210.2 Mechanical devices and figures. Automata. Ingenious mechanism. Robots (General) |
| url | http://irep.iium.edu.my/3052/ http://irep.iium.edu.my/3052/ http://irep.iium.edu.my/3052/ http://irep.iium.edu.my/3052/1/%2810.1109-ICOM.2011.5937183%2958C.pdf |