Name
Abstract | ||
|---|---|---|
This paper presents a spline-based solution method for the inverse kinematics of hyper-redundant manipulators. The reference or backbone curve, that describes the macroscopic geometric shape of the manipulator is modelled by cubic and quintic piecewise parametric spline segments. A procedure for the coordinate frame distribution is proposed that allows any desirable rotation to be deployed about the backbone curve. Moreover, control points are used to determine the optimum shape and to change the length of the manipulator. The proposed solution method is general and applicable to non-extensible as well as extensible planar or spatial hyper-redundant manipulators with different morphologies |
Year | DOI | Venue |
|---|---|---|
1995 | 10.1109/ROBOT.1995.525679 | Robotics and Automation, 1995. Proceedings., 1995 IEEE International Conference |
Keywords | Field | DocType |
geometry,manipulator kinematics,minimisation,redundancy,splines (mathematics),backbone curve,control points,coordinate frame distribution,cubic piecewise parametric spline segments,extensible planar manipulators,hyper-redundant manipulators,inverse kinematics,macroscopic geometric shape,nonextensible manipulators,optimum shape,quintic piecewise parametric spline segments,reference curve,spatial manipulators | Spline (mathematics),Quintic function,Inverse kinematics,Control theory,Parametric statistics,Minimisation (psychology),Planar,Geometric shape,Mathematics,Piecewise | Conference |
Volume | ISSN | ISBN |
3 | 1050-4729 | 0-7803-1965-6 |
Citations | PageRank | References |
17 | 1.82 | 5 |
Authors | ||
2 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Kourosh E. Zanganeh | 1 | 131 | 16.04 |
| Jorge Angeles | 2 | 147 | 17.63 |