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A New Hyper-Redundant Arm and Control System
2015This 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 +2 more
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A Hyper-Redundant Robot Development for Tokamak Inspection
Proceedings of the Advances in Robotics, 2017Hyper-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 +4 more
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Tetrobot: A Modular System for Hyper-Redundant Parallel Robotics
Proceedings of 1995 IEEE International Conference on Robotics and Automation, 1995A 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
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Conceptual study of a class of hybrid hyper-redundant robot
2012 IEEE International Conference on Robotics and Biomimetics (ROBIO), 2012This 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 +3 more
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Sensorial system for hyper-redundant arm
2014 18th International Conference on System Theory, Control and Computing (ICSTCC), 2014This 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 +3 more
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Output Control of a Class of Hyper-redundant Robots
2017The paper studies the control problem of a class of hyper-redundant robots with uncertain components by using the output control. To avoid the complexity of distributed controllers, in this paper is proposed a lumped output controller. A weighted technique is used to generate a boundary output.
Mircea Ivanescu +3 more
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A continuum approach to hyper-redundant manipulator dynamics
Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93), 2002Hyper-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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Control System by Observer for a Hyper-redundant Robot
2011The paper focuses on the control of a class of hyper-redundant arms with continuum elements, with boundary measuring and control. First, the dynamic model of the continuum arm is presented. The measuring systems are based on the film sensors that are placed at the terminal sub-regions of the arm.
Mircea Ivanescu +2 more
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1996
It has long been one of the dreams of robotic researchers to realize a hyper-redundant multi-joint arm which, just like elephant trunk, can enter into a rugged and narrow environment while actively avoiding obstacles. Thus far, there have been many simulation studies on the redundant control problems encountered in controlling hyper-redundant arms, but
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It has long been one of the dreams of robotic researchers to realize a hyper-redundant multi-joint arm which, just like elephant trunk, can enter into a rugged and narrow environment while actively avoiding obstacles. Thus far, there have been many simulation studies on the redundant control problems encountered in controlling hyper-redundant arms, but
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Hyper redundant modular manipulator arm
2000 26th Annual Conference of the IEEE Industrial Electronics Society. IECON 2000. 2000 IEEE International Conference on Industrial Electronics, Control and Instrumentation. 21st Century Technologies and Industrial Opportunities (Cat. No.00CH37141), 2002We introduce the hyper-redundant modular manipulator arm (HRMA) ground test system, which is the ground experimental model for the technology of orbital maintenance system (OMS). OMS consists of three steps: 1) inspecting the satellite, 2) re-orbiting the useless satellite, and 3) simply repairing satellites in space.
S. Kimura +7 more
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