Inverse kinematics analysis of hyper-redundant manipulators has always been a research hotspot in the field of manipulators,which has some problems such as high computational complexity,joint overrun,and large configuration offset.In order to avoid joint overrun,this paper proposes an end-following algorithm based on spherical exploration,which adopts segmented search strategy to solve the problems of proximal joint overrun and distal joint overrun,respectively.The trajectory of the end-effector in the environment without obstacles is customized,and the initial state of the manipulator is adjusted by adaptive horizontal displacement to reduce the possibility of joint overrun.The results show that the algorithm can reduce the overrun rate from 81.41%to 13.72%in the environment without obstacles,and the algorithm can complete the path following motion within the joint constraint range.
维普
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