Kinematic Modelling for Hyper-Redundant Robots—A Structured Guide

Obtaining mathematical equations to model the kinematics of a hyper-redundant robot is not intuitive and greater difficulty than for traditional robots. Depending on characteristics robot, most appropriate methodology approach modelling may be one or another. This article provides general overview different approaches there are when cable-driven while proposing guide help novel researcher that this field decide which apply robot. After providing some definitions, simple framework understand all underlying models presented. Afterwards, important methods developed. Finally, proposal step-by-step tutorial included, it exemplified by applying three real