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An application robotic platform has been constructed based on the kinematic model of a 9-DOF hyper-redundant manipulator. The efficacy of our kinematic algorithm affects the accuracy and stability of both motion control and path tracking. An objective of this work is to achieve multi-input multi output (MIMO) control, where the inputs are the torques at each joint, and they are used to control joint dynamic variables such as position, orientation, velocity and acceleration in a hyper-redundant robotic system. This control approach can highly improve the robotic performance considering both its kinematics and dynamics while executing motion control or tracking a path. The result of tracking different paths and the error analysis both in joint space and work space show that the MIMO control algorithm works functionally and satisfies all the requirements of experimental design.

Publication Date


Project Designation

Graduate Research

Primary Advisor

Raul E Ordonez

Primary Advisor's Department

Electrical and Computer Engineering


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