LIAAD - Indexed Articles in Conferences

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Browsing LIAAD - Indexed Articles in Conferences by Author "Alberto Herreros"
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    Inverse Kinematics of a 10 DOF modular hyper-redundant robot resorting to exhaustive and error-optimization methods: A comparative study
    ( 2012) José luis González Sánchez ; Mario Sáenz Espinoza ; José Fernando Gonçalves ; Paulo Leitão ; Alberto Herreros
    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 error optimization 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.