Results 241 to 250 of about 18,674 (285)

Control of a hyper-redundant robot

19th International Workshop on Robotics in Alpe-Adria-Danube Region (RAAD 2010), 2010
This paper deals with the subject of visual control of a hyper-redundant robot. This type of arm changes its configuration by bending a continuous backbone formed of sections connected in a serial configuration. Such tentacle arm has a variable length and theoretically it can achieve any position and orientation in the 3D space.
I. Dinulescu, A. Predescu, G. Boccolato, R.T. Tanasie, D. Cojocaru   +4 more
openaire   +1 more source

An experimental hyper redundant serpentine robot

2010 IEEE International Conference on Systems, Man and Cybernetics, 2010
Terrestrial locomotion can be broadly classified into three categories based on their mechanism e.g. wheeled, legged and limbless locomotion. Most fascinating of these are the limbless locomotion of a serpent. Wheeled locomotion and legged locomotion have already been studied by many researchers in detail.
Atanu Maity, S. Majumder, Sukamal Ghosh
openaire   +1 more source

Kinematics of Hyper-Redundant Manipulators

1991
A “hyper-redundant” manipulator is a redundant manipulator with a large or infinite relative degree of redundancy. This paper presents a novel approach to the forward and inverse kinematics of these manipulators which is based on the differential geometry of curves.
Chirikjian, Gregory S., Burdick, Joel W.
openaire   +2 more sources

Sensorial system for hyper-redundant arm

2014 18th International Conference on System Theory, Control and Computing (ICSTCC), 2014
This paper presents the sensorial system for structure of a backbone hyper-redundant arm with an electro-pneumatically system for position control. A system of cables actuated by DC motors is used for bending. Control system is based on a PIC microcontroller.
Ionel Cristian Vladu, Viorel Stoian, Ileana Vladu, Daniel Strimbeanu   +3 more
openaire   +1 more source

Shape control of hyper redundant manipulator

Proceedings of 1995 IEEE International Conference on Robotics and Automation, 2002
This paper shows a control law to let hyper redundant manipulators be in specified shapes. Such shape controls are necessary for whole arm manipulation, crevice penetrations and obstacle avoidance. The proposed control is complete local-wise law. Each controller can determine its joint motion by itself while every controller has the same hardware and ...
H. Kobayashi, S. Ohtake
openaire   +1 more source

Hyper redundant manipulator using compound three-bar linkages

2001 IEEE/ASME International Conference on Advanced Intelligent Mechatronics. Proceedings (Cat. No.01TH8556), 2000
A mechanism for a hyper redundant manipulator (HRM) is presented, which comprises serially assembled compound three-bar linkages (CTLs). The CTL mechanism has some unique properties. The paper presents the forward and inverse kinematics of this mechanism and shows the simulation of the HRM with 12 CTL, units. A recursive algorithm of inverse kinematics
Koichi Koganezawa, Takashi Kinoshita
openaire   +1 more source

Rheological Based Hibrid Hyper-Redundant Robot - Design

2019 23rd International Conference on System Theory, Control and Computing (ICSTCC), 2019
Hyper-redundant robots are designed to work in space with restrictions. From the point of view of the mobility of the discrete hyper-redundant robots, two constructive types are consecrated. With extreme mobility (element level actuating), a solution that requires actuators in each joint, to the detriment of weight and hence the length.
Ionel Cristian Vladu, Dorian Cojocaru, Florin Manta, Ionut Resceanu   +3 more
openaire   +1 more source

A controller for hyper-redundant cooperative robots

Proceedings. 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems. Innovations in Theory, Practice and Applications (Cat. No.98CH36190), 2002
This paper proposes a new method for multichain hyper-redundant robot models. A hyper-redundant model is a manipulator with a great flexibility-a tentacle model which can achieve any shape in space. We will discuss a system formed by hyper-redundant manipulators grasping a common object with hardpoint control.
M. Ivanescu, V. Stoian
openaire   +1 more source

Binary hyper-redundant robotic manipulator concept

2004 IEEE Region 10 Conference TENCON 2004., 2004
Continuously actuated robotic manipulators are the most common type of manipulators even though they require sophisticated and expensive control and sensor systems to function with high accuracy and repeatability. Binary hyper-redundant (Bi-HR) robotic manipulators are potential candidates to be used in applications where high repeatability and ...
openaire   +1 more source

A Distributed Control For Hyper Redundant Manipulator

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2005
This paper proposes a distributed con- trol law for a hyper redundant manipulator which has huge number of links. and moves in 3-dimensional gravity free space. Each controller can independently determine the way how to move each link. The necessary information for the controller is only on the target position, the po- sition of the end-effector and ...
H. Kobayashi, E. Shimemura, K. Suzuki
openaire   +1 more source