Motion Control of a Hyper Redundant Manipulator Built by Serially Connecting Many Parallel Mechanism Units with a Few DOF

This paper describes the kinematic analysis and motion control of a hyper redundant robot built by serially connecting many units with a few DOF. Each unit of the manipulator is a spatial parallel mechanism with 3 DOF and is composed of 2 stages connected with 3 linear actuators, 7 spherical joints,...

Ausführliche Beschreibung

Bibliographische Detailangaben

Veröffentlicht in:	International journal of automation technology 2010-07, Vol.4 (4), p.364-371
Hauptverfasser:	Iwatsuki, Nobuyuki, Nishizaka, Norifumi, Morikawa, Koichi, Kondoh, Koji
Format:	Artikel
Sprache:	eng
Online-Zugang:	Volltext
Tags:	Tag hinzufügen Keine Tags, Fügen Sie den ersten Tag hinzu!