Kinematically optimal hyper-redundant manipulator configurations
نویسندگان
چکیده
'Hyper-redundant' robot& have a very large or infinite degree of kinematic redundancy. Thi1 paper develop• methodl for determining the 'optimal' configuration• which 1ati•fy ta1k condrainb while minimizing a weighted mea1ure of mechani•m bending and e:den1ion. The1e method• are based on a continuou• 'backbone curve' which capture• the robot '• euential macro1copic geometric feature•. The Calculu• of Variation~ i• u1ed to develop differential equation•, whole 1olution i• the optimal backbone curve 1hape. We al1o con•ider the optimal di.tribution of frame• along the backbone curve.
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