A New Geometrical Approach for the Inverse Kinematics of the Hyper Redundant Equal Length Links Planar Manipulators

 

1Samer Yahya, 2Haider A. F. Mohamed and1M. Moghavvemi

 

1Center of Research in Applied Electronics (CRAE) University of Malaya, Kuala Lumpur, 50603, Malaysia

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2Department of Electrical & Electronic Engineering The University of Nottingham Malaysia Campus

Jalan Broga, 43500 Semenyih, Selangor Darul Ehsan, Malaysia

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Manuscript received August 20, 2009

Revised September 12, 2009

 

 


Abstract

Redundant manipulators are those having more degrees of freedom than required to perform specified tasks. The inverse kinematics problem, namely, to find the joint motion for a given end effecter task, is one of the vital and challenging issues in redundant manipulator control because there are an infinite number of joint configurations which accomplish a specific end effecter task. A new geometrical method is proposed in this paper to solve the problem of multi-solution caused by redundancy. The proposed method finds one solution to the inverse kinematics of redundant or hyper redundant manipulators from these infinite solutions. The most important advantage of this method is that the angles between the adjacent links are the same which avoid the singularity. This method can be used for the hyper redundant equal length links planar manipulators. Experiments have been conducted on 5 links hyper redundant manipulator to demonstrate the effectiveness of this method.

 

 

Keywords: Geometric modeling, Kinematics, Manipulators, Redundancy, Robot kinematics.

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