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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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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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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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Control System for a Hyper-Redundant Robot
IFAC Proceedings Volumes, 2012Abstract Command and control system of a hyper-redundant robot is presented in this paper. Hyper-redundant robots are a new class of robots designed with a large number of joints with high degree of mobility, in order to operate in areas with restrictions. The robot presented in this paper is a hyper-redundant robot elephant trunk type with truncated
Ileana Vladu +5 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 manipulator dynamics: a continuum approximation
Advanced Robotics, 1994Hyper-redundant, or 'snake-like', 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 ...
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Traveling wave locomotion hyper-redundant mobile robot
Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146), 2002We propose a novel design for a teleoperated hyper-redundant snake robot. The kinematic structure, composed of links serially connected by revolute joints, allows it to move in a three-dimensional space. Configuration control is obtained by actuation cables and passive springs.
Gianluca Poi +2 more
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On hyper‐redundant multiple‐link robots
Laboratory Robotics and Automation, 1996In this article, an approach is presented to effectively optimize the configurations of hyper-redundant multiple-link planar manipulators. Different kinematic and static criteria are utilized, such as the manipulability and the kinematic index, but the emphasis is given on the minimum joint torques.
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A ‘Multilink Spatial Hyper Redundant’ Manipulator
2012Conventionally, industrial robots manipulate their end effector in a pre defined workspace. Structures are made rigid to cater the pay load requirements. Navigation of these arm inspired robots in cluttered environment pose a challenging task, hence the focus on the continuum robots becomes a cynosure.
Praveen Jagadeesan +3 more
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On the Dynamical Control of Hyper Redundant Manipulators
2004The control problem of the spatial tentacle manipulator is presented. The difficulties determined by the complexity of the nonlinear integral — differential equations are avoided by using a very basic energy relationship of this system. Energy-based control laws are introduced by using only the relations that determine the energy stored in the system ...
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