DocumentCode
1599473
Title
Direct kinematics of manipulators with hyper degrees of freedom and Frenet-Serret formula
Author
Mochiyama, Hiromi ; Shimemura, Etsujiro ; Kobayashi, Hisato
Author_Institution
Sch. of Inf. Sci., Japan Adv. Inst. of Sci. & Technol., Ishikawa, Japan
Volume
2
fYear
1998
Firstpage
1653
Abstract
The kinematic structure of a manipulator with hyper degrees of freedom is discussed from a theoretical viewpoint. Conditions for the kinematic structure are derived from a geometrically natural requirement that its direct kinematics tends to Frenet-Serret formula as its number of degrees of freedom increases. It is shown that the manipulator has to have two-degree-of-freedom joints, each of which consists of a twist and a one-directional bend
Keywords
computational geometry; convergence; manipulator kinematics; Frenet-Serret formula; convergence; direct kinematics; hyper degrees of freedom robots; manipulators; one-directional bend; twist; Hardware; Information science; Kinematics; Manipulators; Robots;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1998. Proceedings. 1998 IEEE International Conference on
Conference_Location
Leuven
ISSN
1050-4729
Print_ISBN
0-7803-4300-X
Type
conf
DOI
10.1109/ROBOT.1998.677392
Filename
677392
Link To Document