resumo
- The present work describes and compares several approaches applied to compute the inverse kinematics of a ten degrees of freedom hyper-redundant robot. The proposed approaches are based on an exhaustive method and several erroroptimization algorithms. The algorithms’ performance was evaluated based on two criteria: computational processing time and final actuator positioning error. The results obtained show that for a small number of modules (less or equal to four), the exhaustive method provides the best problem solution: acceptable computational processing time as well as minimum error. However, for larger number of modules, the error-optimization approach has far better performance regarding the error to processing time ratio. The mentioned hyper-redundant robot was projected to be used in biomedical applications.