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The proposed method uses a deterministic optimization scheme that evaluates the score of trial kinematic configurations while accounting for various geometric constraints. This versatile method is based on a simultaneous search for both the best curve capturing the overall kinematic robot posture and the platform distribution along this curve. This process is carried out using the powerful sequential quadratic programming technique. Numerical results are presented to illustrate the efficiency of the proposed approach. Finally, this model was validated by real measurements obtained with the continuum bionic handling arm of a mobile robot called Robotino-XT.<\/jats:p>","DOI":"10.1177\/0959651815583423","type":"journal-article","created":{"date-parts":[[2015,5,21]],"date-time":"2015-05-21T21:05:44Z","timestamp":1432242344000},"page":"867-882","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":4,"title":["Generating optimal reference kinematic configurations for hyper-redundant parallel robots"],"prefix":"10.1177","volume":"229","author":[{"given":"Abdelhakim","family":"Chibani","sequence":"first","affiliation":[{"name":"Faculty of Engineering Sciences, University Constantine 1, Constantine, Algeria"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Chawki","family":"Mahfoudi","sequence":"additional","affiliation":[{"name":"Mechanical Department, Faculty of Applied Sciences, University of Larbi Ben M\u2019Hidi, Oum El Bouaghi, Algeria"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Taha","family":"Chettibi","sequence":"additional","affiliation":[{"name":"Laboratory of Structure Mechanics, EMP, Algiers, Algeria"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Rochdi","family":"Merzouki","sequence":"additional","affiliation":[{"name":"CRIStAL CNRS-UMR 9189, Polytech\u2019Lille, University of Lille 1, Villeneuve d\u2019Ascq, France"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Abdelouhab","family":"Zaatri","sequence":"additional","affiliation":[{"name":"Faculty of Engineering Sciences, University Constantine 1, Constantine, Algeria"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[2015,5,21]]},"reference":[{"key":"bibr1-0959651815583423","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2005.861458"},{"key":"bibr2-0959651815583423","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2008.2002311"},{"key":"bibr3-0959651815583423","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2009.11.007"},{"key":"bibr4-0959651815583423","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2007.10.009"},{"key":"bibr5-0959651815583423","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574712000392"},{"key":"bibr6-0959651815583423","first-page":"1159","volume-title":"ASME design engineering technical conferences","author":"Chablat D"},{"key":"bibr7-0959651815583423","doi-asserted-by":"publisher","DOI":"10.1109\/100.388263"},{"key":"bibr8-0959651815583423","first-page":"415","volume-title":"IEEE international conference on robotics and automation","author":"Chirikjian GS"},{"key":"bibr9-0959651815583423","doi-asserted-by":"publisher","DOI":"10.1109\/70.988980"},{"key":"bibr10-0959651815583423","first-page":"2797","volume-title":"IEEE international conference on robotics and automation","volume":"3","author":"Zanganeh KE"},{"key":"bibr11-0959651815583423","doi-asserted-by":"publisher","DOI":"10.20965\/ijat.2010.p0364"},{"key":"bibr12-0959651815583423","first-page":"591","volume-title":"IEEE international conference on robotics and biomimetics","author":"Mintenbeck J"},{"key":"bibr13-0959651815583423","doi-asserted-by":"publisher","DOI":"10.1088\/1748-3182\/8\/3\/036008"},{"key":"bibr14-0959651815583423","first-page":"1615","volume-title":"10th IEEE international conference on control & automation (ICCA2013)","author":"Rongjie K"},{"key":"bibr15-0959651815583423","doi-asserted-by":"crossref","unstructured":"Chibani A, Mahfoudi C, Merzouki R, Design of hybrid hyper-redundant robot manipulator. 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