Inverse kinematics of discretely actuated hyper-redundant manipulators

Inverse kinematics of discretely actuated hyper-redundant manipulators

A new method for solving Inverse kinematics problem of discretely actuated hyper-redundant manipulators

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The term discretely actuated hyper-redundant manipulator is applied to a kind of manipulators which consists of serially connected modules. Such modules are composed of discretely actuated joints having finite stable states. Since the previous studies have rarely offered satisfactory results regarding the problem of inverse kinematics of discretely actuated hyper-redundant manipulators, the present study is attempting to develop and investigate an effective algorithm to solve this problem. To achieve this, the current research intends to solve the problem of 2D and 3D inverse kinematics of man...