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2012 Brazilian Robotics Symposium and Latin American Robotics Symposium
This paper describes and compares several approaches applied to compute the inverse kinematics of a 10 degrees of freedom hyper-redundant robot. The proposed approaches are based on an exhaustive method and several erroroptimization algorithms. The algorithms' performance was evaluated based on two criteria: computing time and final actuator positioning error. The mentioned hyper-redundant robot was projected to be used in biomedical applications. Brazilian Robotics Symposium and Latin American Robotics Symposium 978-0-7695-4906-4/12 $26.00doi:10.1109/sbr-lars.2012.28 fatcat:bphckkmjxbczng724qdwbyjhbi