A Closed-Form Solution for the Inverse Kinematics of the 2<i>n</i>-DOF Hyper-Redundant Manipulator Based on General Spherical Joint
This paper presents a closed-form inverse kinematics solution for the -degree of freedom (DOF) hyper-redundant serial manipulator with identical universal joints (UJs). The proposed algorithm is based on a novel concept named as general spherical joint (GSJ). In this work, these universal joints are...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2021-01-01
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| Series: | Applied Sciences |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2076-3417/11/3/1277 |