Variable Dimensional Scaling Method: A Novel Method for Path Planning and Inverse Kinematics

Traditional methods for solving the inverse kinematics of a hyper-redundant manipulator (HRM) can only plan the path of the end-effector with a complicated solving process, where obstacle avoidance is also not considered. To solve the above problems, a novel method for solving inverse kinematics of...

Full description

Bibliographic Details

Published in:	Machines
Main Authors:	Longfei Jia, Zhiyuan Yu, Haiping Zhou, Zhe Pan, Yangsheng Ou, Yaxing Guo, Yuping Huang
Format:	Article
Language:	English
Published:	MDPI AG 2022-11-01
Subjects:	variable dimension scaling method path planning inverse kinematics obstacle avoidance hyper-redundant manipulator
Online Access:	https://www.mdpi.com/2075-1702/10/11/1030