Wang, Cheng; Xie, Haibo; Yang, Huayong - In: Industrial Robot: the international journal of robotics … 50 (2023) 3, pp. 505-519
computation cost, movement exceeding joint limits and poor path-following accuracy for the path planning of hyper-redundant snake … imposed joint limits. Finally, a new arrangement is obtained through the analytic solution of the inverse kinematics of hyper …. Findings Simulation results show that the average computation time is 0.1 ms per step for a hyper-redundant manipulator with 12 …