3D Kinematics Control for a Hyper Redundant Robot
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چکیده
This paper presents the simulation, implementation and control problem for a class of hyper redundant manipulators – the tronconic tentacle arms. A tentacle robot changes its configuration by bending a continuous backbone formed of sections connected in a serial configuration. Such tentacle arm has a variable length and theoretically it can achieve any position and orientation in 3D space. A tentacle arm prototype was designed and the practical realization is now running. A solution for kinematics of this arm is presented.
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تاریخ انتشار 2010