Inverse Kinematics of a Hyper-Redundant Robotic Manipulator

Serial robots, Snake or, Worm robots, Tentacle robots or continuum robots are known as hyperredundant robots and possess very large degrees of kinematics redundancy. Inverse kinematics of hyper-redundant robots can have infinite number of solutions, which is a great challenge against position con...

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Bibliographic Details
Main Authors:	Ahamad, Syed Masrur, Khan, Md. Raisuddin, Rahman, Md. Mozasser
Format:	Conference or Workshop Item
Language:	English
Published:	2008
Subjects:	TJ210.2 Mechanical devices and figures. Automata. Ingenious mechanism. Robots (General)
Online Access:	http://irep.iium.edu.my/7038/ http://irep.iium.edu.my/7038/ http://irep.iium.edu.my/7038/1/ICOM08.pdf

id	iium-7038
recordtype	eprints
spelling	iium-70382012-04-26T08:03:35Z http://irep.iium.edu.my/7038/ Inverse Kinematics of a Hyper-Redundant Robotic Manipulator Ahamad, Syed Masrur Khan, Md. Raisuddin Rahman, Md. Mozasser TJ210.2 Mechanical devices and figures. Automata. Ingenious mechanism. Robots (General) Serial robots, Snake or, Worm robots, Tentacle robots or continuum robots are known as hyperredundant robots and possess very large degrees of kinematics redundancy. Inverse kinematics of hyper-redundant robots can have infinite number of solutions, which is a great challenge against position control of such robots. Various techniques have so far been proposed for inverse kinematics of hyper-redundant robots that involve wide range of mathematics, which include nonlinear optimization, Artificial Neural Network, Fuzzy System etc. In this paper a new technique has been proposed that assumes a configuration with a virtual layer, where probable singularities are included. In the successive steps the singularities are removed following some geometric propositions to have the final version of the configuration, which ultimately gives the inverse kinematics of the hyperredundant robot. Mathematics involved in this new technique is the traditional inverse kinematics solution of two link subrobots, which are selected to satisfy the geometric propositions. The proposed technique has been tested on four link and six link robots and some comparison are made with one of the recent techniques known as ANFIS. 2008-12-22 Conference or Workshop Item PeerReviewed application/pdf en http://irep.iium.edu.my/7038/1/ICOM08.pdf Ahamad, Syed Masrur and Khan, Md. Raisuddin and Rahman, Md. Mozasser (2008) Inverse Kinematics of a Hyper-Redundant Robotic Manipulator. In: Proceedings of the 3rd International Conference on Mechatronics (ICOM '08), 18 - 22 December 2008, IIUM, Kuala Lumpur, Malaysia. http://www.iium.edu.my/ICOM/2008/
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) Ahamad, Syed Masrur Khan, Md. Raisuddin Rahman, Md. Mozasser Inverse Kinematics of a Hyper-Redundant Robotic Manipulator
description	Serial robots, Snake or, Worm robots, Tentacle robots or continuum robots are known as hyperredundant robots and possess very large degrees of kinematics redundancy. Inverse kinematics of hyper-redundant robots can have infinite number of solutions, which is a great challenge against position control of such robots. Various techniques have so far been proposed for inverse kinematics of hyper-redundant robots that involve wide range of mathematics, which include nonlinear optimization, Artificial Neural Network, Fuzzy System etc. In this paper a new technique has been proposed that assumes a configuration with a virtual layer, where probable singularities are included. In the successive steps the singularities are removed following some geometric propositions to have the final version of the configuration, which ultimately gives the inverse kinematics of the hyperredundant robot. Mathematics involved in this new technique is the traditional inverse kinematics solution of two link subrobots, which are selected to satisfy the geometric propositions. The proposed technique has been tested on four link and six link robots and some comparison are made with one of the recent techniques known as ANFIS.
format	Conference or Workshop Item
author	Ahamad, Syed Masrur Khan, Md. Raisuddin Rahman, Md. Mozasser
author_facet	Ahamad, Syed Masrur Khan, Md. Raisuddin Rahman, Md. Mozasser
author_sort	Ahamad, Syed Masrur
title	Inverse Kinematics of a Hyper-Redundant Robotic Manipulator
title_short	Inverse Kinematics of a Hyper-Redundant Robotic Manipulator
title_full	Inverse Kinematics of a Hyper-Redundant Robotic Manipulator
title_fullStr	Inverse Kinematics of a Hyper-Redundant Robotic Manipulator
title_full_unstemmed	Inverse Kinematics of a Hyper-Redundant Robotic Manipulator
title_sort	inverse kinematics of a hyper-redundant robotic manipulator
publishDate	2008
url	http://irep.iium.edu.my/7038/ http://irep.iium.edu.my/7038/ http://irep.iium.edu.my/7038/1/ICOM08.pdf
first_indexed	2023-09-18T20:16:16Z
last_indexed	2023-09-18T20:16:16Z
_version_	1777407808484933632

Inverse Kinematics of a Hyper-Redundant Robotic Manipulator

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