A Closed-Form Solution for the Inverse Kinematics of the 2<i>n</i>-DOF Hyper-Redundant Manipulator Based on General Spherical Joint

A Closed-Form Solution for the Inverse Kinematics of the 2<i>n</i>-DOF Hyper-Redundant Manipulator Based on General Spherical Joint

This paper presents a closed-form inverse kinematics solution for the -degree of freedom (DOF) hyper-redundant serial manipulator with identical universal joints (UJs). The proposed algorithm is based on a novel concept named as general spherical joint (GSJ). In this work, these universal joints are...

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Bibliographic Details
Main Authors: Ya’nan Lou, Pengkun Quan, Haoyu Lin, Dongbo Wei, Shichun Di
Format: Article
Language:English
Published: MDPI AG 2021-01-01
Series:Applied Sciences
Subjects:
closed-form inverse kinematics
general spherical joint
distance-based
hyper-redundant manipulator
Online Access:https://www.mdpi.com/2076-3417/11/3/1277

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