Abstract
For a given position of the end effector, the optimum configuration of a planar multiple-link hyper-redundant manipulator is calculated between two arbitrary points. The optimality criterion is defined by a linear combination of joint torques. Analytical and time-consuming numerical procedures are used to show that the optimum solution can effectively be approximated by a set of straight sections of the mechanism.
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Lenarčič, J. (1995). On Minimum Joint Torque Configurations of Multiple-Link Manipulator. In: Merlet, JP., Ravani, B. (eds) Computational Kinematics ’95. Solid Mechanics and Its Applications, vol 40. Springer, Dordrecht. https://doi.org/10.1007/978-94-011-0333-6_14
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DOI: https://doi.org/10.1007/978-94-011-0333-6_14
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