Detalhes bibliográficos
| Resumo: | The present work describes and compares several approaches applied to compute the inverse kinematics of a ten degrees of freedom hyper-redundant robot. The proposed approaches are based on an exhaustive method and several erroroptimization algorithms. The algorithms’ performance was evaluated based on two criteria: computational processing time and final actuator positioning error. The results obtained show that for a small number of modules (less or equal to four), the exhaustive method provides the best problem solution: acceptable computational processing time as well as minimum error. However, for larger number of modules, the error-optimization approach has far better performance regarding the error to processing time ratio. The mentioned hyper-redundant robot was projected to be used in biomedical applications. |
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| Autores principais: | Espinoza, Mario Sáenz |
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| Outros Autores: | Pereira, Ana I.; Gonçalves, José |
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| Assunto: | Robotics Optimization |
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| Ano: | 2012 |
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| País: | Portugal |
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| Tipo de documento: | comunicação em conferência |
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| Tipo de acesso: | acesso restrito |
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| Instituição associada: | Instituto Politécnico de Bragança |
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| Idioma: | português |
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| Origem: | Biblioteca Digital do IPB |
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