Tiangang Chen



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Hyper redundant robots consist of many equal length rigid links connected by a large number of revolute joints. This significant number of joints gives the robot many degrees of freedom enabling it to function in highly constrained environments. This work introduces a methodology to solve the kinematics of a hyper redundant robot. Addressing the kinematics includes two issues. The first issue is to approximate a desired curve that specifies the configuration or shape of the robot. The second issue is to accurately position the tool at the end of the robot. These two issues are addressed by analyzing the desired curve describing the hyper redundant robot as piecewise linear similar to the analysis for generating target profiles in shape-changing mechanism theory. There are two advantages to this approach. First, the error will be small. Second, the speed of the calculation is fast.

Publication Date


Project Designation

Independent Research

Primary Advisor

Andrew P. Murray, Dave Harry Myszka

Primary Advisor's Department

Mechanical and Aerospace Engineering


Stander Symposium project, School of Engineering

A Fast Algorithm for Solving the Kinematics of Hyper Redundant Robots