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Kinematic Modelling for Hyper-Redundant Robots—A Structured Guide

Author

Listed:
  • Diego Cerrillo

    (Centro de Automática y Robótica (UPM-CSIC), Universidad Politécnica de Madrid, José Gutiérrez Abascal, 2, 28006 Madrid, Spain)

  • Antonio Barrientos

    (Centro de Automática y Robótica (UPM-CSIC), Universidad Politécnica de Madrid, José Gutiérrez Abascal, 2, 28006 Madrid, Spain)

  • Jaime Del Cerro

    (Centro de Automática y Robótica (UPM-CSIC), Universidad Politécnica de Madrid, José Gutiérrez Abascal, 2, 28006 Madrid, Spain)

Abstract

Obtaining mathematical equations to model the kinematics of a hyper-redundant robot is not intuitive and of greater difficulty than for traditional robots. Depending on the characteristics of the robot, the most appropriate methodology to approach the modelling may be one or another. This article provides a general overview of the different approaches there are when modelling a hyper-redundant cable-driven robot, while proposing a guide to help the novel researcher that approaches this field decide which methodology to apply when modelling a robot. After providing some definitions, a simple framework to understand all the underlying models is presented. Afterwards, the mathematical equations for the most important methods of modelling are developed. Finally, the proposal for a step-by-step tutorial is included, and it is exemplified by applying it to three real robots.

Suggested Citation

  • Diego Cerrillo & Antonio Barrientos & Jaime Del Cerro, 2022. "Kinematic Modelling for Hyper-Redundant Robots—A Structured Guide," Mathematics, MDPI, vol. 10(16), pages 1-40, August.
    • Handle: RePEc:gam:jmathe:v:10:y:2022:i:16:p:2891-:d:886585
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    References listed on IDEAS

    as
    1. Pramod Chembrammel & Thenkurussi Kesavadas, 2019. "A new implementation for online calculation of manipulator Jacobian," PLOS ONE, Public Library of Science, vol. 14(2), pages 1-15, February.
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