| Revista: | Latin American applied research |
| Base de datos: | PERIÓDICA |
| Número de sistema: | 000372226 |
| ISSN: | 0327-0793 |
| Autores: | Motahari, A Zohoor, H1 Korayem, M.H2 |
| Instituciones: | 1Sharif University of Technology, Center of Excellence in Design, Robotics and Automation, Teherán. Irán 2Iran University of Science and Technology, Center of Excellence in Experimental Solid Mechanics and Dynamics, Teherán. Irán |
| Año: | 2013 |
| Volumen: | 43 |
| Número: | 2 |
| Paginación: | 161-168 |
| País: | Argentina |
| Idioma: | Inglés |
| Tipo de documento: | Artículo |
| Enfoque: | Experimental, aplicado |
| Resumen en inglés | The term discretely actuated hyper-redundant manipulator is applied to a kind of manip-ulators 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 re-garding the problem of inverse kinematics of dis-cretely actuated hyper-redundant manipulators, the present study is attempting to develop and investi-gate 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 manipu-lators with many modules, by considering both posi-tion and orientation of end frame in real-time with fairly high accuracy. The main ideas of the proposed method are: using mean workspace, breadth-first search with two non-adjacent modules in each step and improving the results by iterating the process. The effectiveness of the presented method is verified through different numerical analyses for various case studies |
| Disciplinas: | Ingeniería, Ciencias de la computación |
| Palabras clave: | Ingeniería mecánica, Procesamiento de datos, Manipuladores binarios, Manipuladores hiper-redundantes, Cinemática inversa |
| Keyword: | Engineering, Computer science, Mechanical engineering, Data processing, Binary manipulators, Hyper-redundant manipulators, Inverse kinematics |
| Solicitud del documento | |
