Direct and Inverse Second Order Kinematics for Hyper-Redundant Parallel Robots

Abstract

Second order direct and inverse continuous recursions for parallel hyper-redundant robots are derived in a purely deductive manner. The method extends previous results by the author, that generalized to a single, completely actuated, flexible beam the Newton–Euler recursive approach for serial robots. This is done thanks to a convenient formulation as an optimal control problem in the spatial coordinate. Consideration of such abstract models of robots and all the more getting both recursions at once appear to be quite new. Thus, only the theory is presented here, deferring simulations to future publication. Indications for future implementations are given, relying upon software from control theory. TS - CrossRef