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Asian Journal of Scientific Research
  Year: 2013 | Volume: 6 | Issue: 1 | Page No.: 67-77
DOI: 10.3923/ajsr.2013.67.77
 
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Position Control of a Four Link Hyper Redundant Robotic Manipulator

Syed Masrur Ahmmad, Raisuddin Khan, Md. Mozasser Rahman and Masum Billah

Abstract:
Hyper-Redundant robotic manipulators like Serial robots, Snake robots, Tentacle robots or Continuum robots have very large number of degrees of kinematics redundancy. Position control of such a robotic manipulator comprising of more than three links and articulated joints is a big challenge due to the involvement of large number of trigonometric terms in its inverse kinematics equations. In this paper, a simple algorithm for the inverse kinematics solution (IKS) of a four-link serial robotic manipulator has been proposed, which is then validated experimentally. The proposed method divides the robot into two two-link virtual sub-robot and solves the inverse kinematics analytically for joint variables of each sub-robot successively. A validation experiment was conducted on a 4-link prototype to check the validity of the proposed algorithm. The experimental results showed satisfactory results with good repeatability.
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How to cite this article:

Syed Masrur Ahmmad, Raisuddin Khan, Md. Mozasser Rahman and Masum Billah, 2013. Position Control of a Four Link Hyper Redundant Robotic Manipulator. Asian Journal of Scientific Research, 6: 67-77.

DOI: 10.3923/ajsr.2013.67.77

URL: https://scialert.net/abstract/?doi=ajsr.2013.67.77

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