Inverse Kinematics of a 10 DOF Modular Hyper-Redundant Robot Resorting to Exhaustive and Error-Optimization Methods: A Comparative Study

Mario Saenz Espinoza, Jose Goncalves, Paulo Leitao, Jose Luis Gonzalez Sanchez, Alberto Herreros
2012 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 $26.00
doi:10.1109/sbr-lars.2012.28 fatcat:bphckkmjxbczng724qdwbyjhbi