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...

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Main Authors:	Jamali, Annisa, Khan, Md. Raisuddin, Rahman, Md. Mozasser
Format:	Conference or Workshop Item
Language:	English
Published:	2011
Subjects:	TJ210.2 Mechanical devices and figures. Automata. Ingenious mechanism. Robots (General)
Online Access:	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

id	iium-3052
recordtype	eprints
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 Conference or Workshop Item 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
repository_type	Digital Repository
institution_category	Local University
institution	International Islamic University Malaysia
building	IIUM Repository
collection	Online Access
language	English
topic	TJ210.2 Mechanical devices and figures. Automata. Ingenious mechanism. Robots (General)
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
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.
format	Conference or Workshop Item
author	Jamali, Annisa Khan, Md. Raisuddin Rahman, Md. Mozasser
author_facet	Jamali, Annisa Khan, Md. Raisuddin Rahman, Md. Mozasser
author_sort	Jamali, Annisa
title	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_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_sort	new geometrical approach to solve inverse kinematics of hyper redundant robots with variable link length
publishDate	2011
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
first_indexed	2023-09-18T20:10:45Z
last_indexed	2023-09-18T20:10:45Z
_version_	1777407460872552448

A new geometrical approach to solve inverse kinematics of hyper redundant robots with variable link length

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