Author/Editor		Lenarčič, J
Title		On hyper-redundant multiple-link robots
Type		članek
Source		Lab Robot Autom
Vol. and No.		Letnik 8
Publication year		1996
Volume		str. 11-6
Language		eng
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 mimimum 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 aookucatuib us fireseen in the real-time control schemes and programming procedures.
Descriptors		ROBOTICS KINESIS