A Divide-and-Conquer Method for Inverse Kinematics of Hyper-Redundant Manipulators
Hyper-redundant manipulators have a large number of redundant degrees of freedom. They have been recognized as a means to improve manipulator performance in complex and unstructured environments. However, the high degree of redundancy also causes difficulty in inverse kinematics calculations. Motivated by the cascading of workspace densities, this paper develops a “divide-and-conquer” method for inverse kinematics using the workspace density generated by a partial differential equation. This method does not involve a high dimensional Jacobian matrix and offers high accuracy. Its computational complexity is only O(log 2 P) for a manipulator with P modules. Numerical simulations are performed to demonstrate this method.
KeywordsInverse Kinematics Hyper-Redundant Manipulator Workspace Density
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