Kinematics of Hyper-Redundant Manipulators
Kinematics of Hyper-Redundant Manipulators
复制标题
超冗余机械臂的运动学
DOI：
10.1007/978-3-7091-4433-6_44
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发表时间：
1991
期刊：
影响因子：
--
通讯作者：
J. Burdick
中科院分区：
文献类型：
--
作者：
G. Chirikjian;J. Burdick
“超冗余”机械手是具有大的或无限的相对冗余度的冗余机械手。本文提出了一种基于曲线微分几何的机器人运动学正逆解的新方法。在该方法中，一个“骨干曲线”的定义来捕捉的基本几何特征的超冗余度机械手。为了解决超冗余问题，将骨架曲线的内在几何函数限制为模态形式。该方法直接适用于具有连续形态的机械手，并可推广到具有有限个离散连杆的机械手。
A “hyper-redundant” manipulator is a redundant manipulator with a large or infinite relative degree of redundancy. This paper presents a novel approach to the forward and inverse kinematics of these manipulators which is based on the differential geometry of curves. In this method, a ‘backbone curve’ is defined to capture the essential geometric features of the hyper-redundant manipulator. The backbone curve’s intrinsic geometric functions are restricted to a modal form in order to resolve the hyper-redundancy. The approach is directly applicable to manipulators with continuous morphology, and can be extended to manipulators with a finite number of discrete links.