Results 241 to 250 of about 3,003 (288)
A worm-inspired new spatial hyper-redundant manipulator
Robotica, 2010 SUMMARYIn this work a novel spatial hyper-redundant manipulator inspired in the motions of the worms is introduced. The displacement analysis is presented in a semi-closed form solution, whereas the velocity and acceleration analyses are carried out by means of the theory of screws.
Jaime Gallardo-Alvarado +2 more
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A geometrical inverse kinematics method for hyper-redundant manipulators
2008 10th International Conference on Control, Automation, Robotics and Vision, 2008 Hyper-redundant manipulators have large number of kinematic degrees of freedom, thus processing some unconventional features such as the ability to enter a narrow space while avoiding obstacles. To solve the problem of multi-solution caused by redundancy, a geometrical method is presented in this paper.
Samer Yahya +3 more
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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 ...
Jackrit Suthakorn
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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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Manipulability Analysis for Cable-Driven Hyper-Redundant Manipulators
2021 IEEE 17th International Conference on Automation Science and Engineering (CASE), 2021Cable-driven hyper-redundant manipulators (CDHMs) have been widely applied in aerospace, surgery, or other fields to complete tasks in narrow and multi-obstacles environments. Maneuverability is an important metric for CDHMs and is more difficult to analyze than traditional industrial robots because of their more complicated kinematics.
Haoqiang Yang +5 more
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Theory and Applications of Hyper-Redundant Robotic Manipulators [PDF]
, 1992 The term "hyper-redundant" refers to robotic manipulators and mobile robots with a very large, possibly infinite, number of actuatable degrees of freedom. These robots are analogous in morphology and operation to snakes, worms, elephant trunks, and tentacles.
Chirikjian, Gregory Scott
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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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A local feedback law for hyper-redundant manipulators
Advanced Robotics, 1994This 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
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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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