Inverse Kinematics of a 10 DOF modular hyper-redundant robot resorting to exhaustive and error-optimization methods: A comparative study

dc.contributor.author	José luis González Sánchez	en
dc.contributor.author	Mario Sáenz Espinoza	en
dc.contributor.author	José Fernando Gonçalves	en
dc.contributor.author	Paulo Leitão	en
dc.contributor.author	Alberto Herreros	en
dc.date.accessioned	2017-11-16T14:02:30Z
dc.date.available	2017-11-16T14:02:30Z
dc.date.issued	2012	en
dc.description.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.	en
dc.identifier.uri	http://repositorio.inesctec.pt/handle/123456789/2722
dc.language	eng	en
dc.relation	5730	en
dc.relation	5730	en
dc.rights	info:eu-repo/semantics/openAccess	en
dc.title	Inverse Kinematics of a 10 DOF modular hyper-redundant robot resorting to exhaustive and error-optimization methods: A comparative study	en
dc.type	conferenceObject	en
dc.type	Publication	en