Kinematic Modelling for Hyper-Redundant Robots—A Structured Guide

Diego Cerrillo (), Antonio Barrientos and Jaime Del Cerro
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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

Mathematics, 2022, vol. 10, issue 16, 1-40

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.

Keywords: hyper-redundant robots; kinematic modelling; forward and inverse kinematic; piecewise constant curvature (search for similar items in EconPapers)
JEL-codes: C (search for similar items in EconPapers)
Date: 2022
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