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The inverse kinematics of hyper-redundant manipulators using splines

Robotics and Automation, 1995. Proceedings., 1995 IEEE International Conference, (1995): 2797-2802vol.3

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This paper presents a spline-based solution method for the inverse kinematics of hyper-redundant manipulators. The reference or backbone curve, that describes the macroscopic geometric shape of the manipulator is modelled by cubic and quintic piecewise parametric spline segments. A procedure for the coordinate frame distribution is propos...更多

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