Asian Journal of Scientific Research1992-14542077-2076Asian Network for Scientific Information10.3923/ajsr.2013.67.77AhmmadSyed MasrurKhanRaisuddinRahmanMd. MozasserBillahMasum1201361Hyper-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.]]>Alavandar, S. and M.J. Nigam,2008Ashrafiuon, F.M. and C. Nataraj, 2002Bham, M.T.R.M.D.E.,2007Chirikjian, G.S. and J.W. Burdick,1990Chirikjian, G.S. and J.W. Burdick,1995Howard, D.W. and A. Zilouchian,1998Ivanescu, M., N. Popescu and D. Popescu,2005Bouallegue, K. and A. Chaari,2007Chetty, R.M.K., M. Singaperumal and T. Nagarajan,2011Li, J.Z. and M.B. Trabia,1996Mayorga, R.V. and P. Sanongboon,2005