Position and Anti-Collision Algorithms for a 3D Hyper-Redundant Robot

There are many approaches to control hyper-redundant robots. Many of them are based on the use of the inverse kinematics and the Jacobian matrix. In order to obtain the inverse Jacobian, in the cases when this matrix is not square, the pseudo inverse technique can be used. Some researchers suggest empirical approaches based in heuristic methods. In this paper are exposed the follow the leader algorithm, based in heuristic methods, and a anti-collision system, based in the pseudo inverse Jacobian. Bridge's inspection is one possible applications of a redundant robot.