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Title: Inverse Kinematics of a 10 DOF modular hyper-redundant robot resorting to exhaustive and error-optimization methods: A comparative study
Authors: José luis González Sánchez
Mario Sáenz Espinoza
José Fernando Gonçalves
Paulo Leitão
Alberto Herreros
Issue Date: 2012
Abstract: 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.
metadata.dc.type: conferenceObject
Appears in Collections:LIAAD - Indexed Articles in Conferences

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