On hyper‐redundant multiple‐link robots

Abstract

In this article, an approach is presented to effectively optimize the configurations of hyper-redundant multiple-link planar manipulators. Different kinematic and static criteria are utilized, such as the manipulability and the kinematic index, but the emphasis is given on the minimum joint torques. It is shown that these criteria produce configurations that can easily be recognized and expressed in terms of simple mathematical functions. For instance, the minimum joint torque configurations can be formed as combinations of straight sections. The application is foreseen in the real-time control schemes and programming procedures. © 1996 John Wiley & Sons, Inc.