IEEE - Institute of Electrical and Electronics Engineers, Inc. - Kinematically optimal hyper-redundant manipulator configurations

Author(s): Chirikjian, G.S. ; Burdick, J.W.
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 January 1992
Conference Location: Nice, France, France
Conference Date: 12 May 1992
ISBN (Paper): 0-8186-2720-4
DOI: 10.1109/ROBOT.1992.220304
Regular:

Hyper-redundant robots have a very large or infinite degree of kinematic redundancy. The authors develop methods for determining the optimal configurations which satisfy task constraints while... View More

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