Results 261 to 270 of about 1,148,415 (296)

A local feedback law for hyper-redundant manipulators

Advanced Robotics, 1994
This paper shows that a set of equal local linear controllers can accomplish PTP controls for highly redundant manipulators. The proposed control architecture is very simple and robust, while the conventional hierarchical controls require complex calculation and need to be sensitive to accidents.
Hisato Kobayashi, Sjigeo Ohtake
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

VISHARD10, a novel hyper-redundant haptic interface

12th International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2004. HAPTICS '04. Proceedings., 2004
This paper presents and discusses the design of a novel hyper-redundant haptic interface with 10 degrees-of-freedom (DOF). The use of additional joints allow:; a significantly larger workspace, while reducing the overall device size. Moreover, an increase in a variety of dexterity measures and a singularity robust redundancy resolution can be achieved.
Marc Ueberle, Nico Mock, Martin Buss
openaire   +1 more source

The Kinematics of Hyper-Redundant Robots

1998
Hyper-Redundant robots have a large or infinite degree of kinematic redundancy. This paper reviews some simple hyper-redundant robot modeling and task planning techniques. These methods are based on a ‘backbone curve’ that captures the robot’s macroscopic geometric features.
Joel W. Burdick, Gregory S. Chirikjian
openaire   +1 more source

A Hyper-Redundant Robot Development for Tokamak Inspection

Proceedings of the Advances in Robotics, 2017
Hyper-redundant manipulators are an alternative to serial manipulators that can be used for inspection and maintenance in constrained location. They are highly suitable for inspections in tokamak environment, where the robotic systems need to have multiple degrees of freedom, light weight, fast deployment and retrieval mechanism and high dexterity.
Pramit Dutta, Krishan Kumar Gotewal, Naveen Rastogi, Raviranjan Tiwari, ManoahStephen M   +4 more
openaire   +1 more source

A New Hyper-Redundant Arm and Control System

2015
This paper presents a new hyper-redundant robotic arm structure and its sensorial, driving and control systems. A system of cables actuated by DC motors is used for bending. The position of the robot can be obtained by bending it with the cables and by blocking the position of the needed elements using an electro pneumatic system.
Viorel Stoian, Ionel Cristian Vladu, Ileana Vladu   +2 more
openaire   +1 more source

Tetrobot: A Modular System for Hyper-Redundant Parallel Robotics

Proceedings of 1995 IEEE International Conference on Robotics and Automation, 1995
A modular system for the design, implementation, and control of a class of highly redundant parallel robotic mechanisms is described. The Tetrobot system features a novel concentric multilink spherical (CMS) joint which allows an arbitrary number of links to share a common center of rotation. The CMS joint facilitates the construction of a wide variety
Gregory J. Hamlin, Arthur C. Sanderson
openaire   +1 more source

Conceptual study of a class of hybrid hyper-redundant robot

2012 IEEE International Conference on Robotics and Biomimetics (ROBIO), 2012
This paper describes geometric and kinematic modelling steps of a class of an hybrid hyper-redundant robot (HHRR). The main problem of such complex manipulator robot structures is the synthesis of an appropriate control of n number of degrees of freedom (DOF).
Chibani, Abdelhakim, Mahfoudi, Chawki, Chettibi, Taha, Merzouki, Rochdi   +3 more
openaire   +2 more sources

A continuum approach to hyper-redundant manipulator dynamics

Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93), 2002
Hyper-redundant, or snakelike, manipulators have a very large number of actuatable degrees of freedom. This paper develops an efficient formulation of approximate hyper-redundant manipulator dynamics. The most efficient methods for representing manipulator dynamics in the literature require serial computations proportional to the number of degrees of ...
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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