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A new spatial hyper-redundant manipulator
Robotics and Computer-Integrated Manufacturing, 2009This work presents a novel hyper-redundant manipulator. Such a manipulator is built with a variable number of tandem-assembled modules. Each module consists of a 3-dof parallel manipulator with asymmetric extremities in which moving platform possesses mixed motions with respect to the base platform.
JOSÉ M Rico, Emilio J González-Galván
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The position control of a spatial binary hyper redundant manipulator through its inverse kinematics
Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science, 2013 This article is about the position control of a binary hyper redundant manipulator, which is driven by pneumatic on-off actuators. The end platform of the binary hyper redundant manipulator bears a small fine tuning manipulator, which is a continuously ...
Atilla Bayram, M Kemal Ozgoren
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A hyper-redundant continuous robot
Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006., 2006This paper presents a novel design and analysis of a hyper-redundant continuous robot (biological continuum style manipulator), actuation system, and control strategy. The robot includes 8 flexible segments, though it can be extended to more segments as necessary.
Jingzhou Yang 0001 +2 more
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An experimental hyper redundant serpentine robot
2010 IEEE International Conference on Systems, Man and Cybernetics, 2010Terrestrial 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 +2 more
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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), 2002This 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.
Mircea Ivanescu, Viorel Stoian
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Shape control of hyper redundant manipulator
Proceedings of 1995 IEEE International Conference on Robotics and Automation, 2002This 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 ...
Hisato Kobayashi, Sjigeo Ohtake
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A Distributed Control For Hyper Redundant Manipulator
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2005This 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 ...
Hisato Kobayashi +2 more
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Control of a hyper-redundant robot
19th International Workshop on Robotics in Alpe-Adria-Danube Region (RAAD 2010), 2010This 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 +4 more
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Analysis of Hyper-Redundant Manipulators
Volume 7A: 17th Biennial Conference on Mechanical Vibration and Noise, 1999Abstract A new approach to solve the inverse kinematic problem for hyper-redundant planar manipulators following any desired path is presented. The method is singularity free and provides a robust solution even in the event of mechanical failure of some of the robot actuators. The approach is based on defining virtual layers and dividing
Farshid Maghami Asl +2 more
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Design and study of a novel hyper-redundant manipulator
Robotica, 2003Summary A novel hyper-redundant manipulator named RT1 is presented in this paper. The key feature of RT1 is that all degrees of freedom (DOF) are actuated with only one motor, via specially designed hinge bar universal joints. The mechanism of RT1 which includes a special hinge bar universal joint, bend structure and motion diversion structure is ...
Yanming Li +5 more
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