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 2<i>n</i>-degree of freedom (DOF) hyper-redundant serial manipulator with <inline-formula><math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"><semantics><mi>n&l...

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Bibliographic Details

Published in:	Applied Sciences
Main Authors:	Ya’nan Lou, Pengkun Quan, Haoyu Lin, Dongbo Wei, Shichun Di
Format:	Article
Language:	English
Published:	MDPI AG 2021-01-01
Subjects:	closed-form inverse kinematics general spherical joint distance-based hyper-redundant manipulator
Online Access:	https://www.mdpi.com/2076-3417/11/3/1277