Results 241 to 250 of about 3,485 (285)

Analysis of Hyper-Redundant Manipulators

Volume 7A: 17th Biennial Conference on Mechanical Vibration and Noise, 1999
Abstract 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, Hashem Ashrafiuon, C. Nataraj   +2 more
openaire   +1 more source

Shape control of hyper redundant manipulator

Proceedings of 1995 IEEE International Conference on Robotics and Automation, 2002
This 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 ...
H. Kobayashi, S. 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

Hyper redundant manipulator using compound three-bar linkages

2001 IEEE/ASME International Conference on Advanced Intelligent Mechatronics. Proceedings (Cat. No.01TH8556), 2000
A mechanism for a hyper redundant manipulator (HRM) is presented, which comprises serially assembled compound three-bar linkages (CTLs). The CTL mechanism has some unique properties. The paper presents the forward and inverse kinematics of this mechanism and shows the simulation of the HRM with 12 CTL, units. A recursive algorithm of inverse kinematics
Koichi Koganezawa, Takashi Kinoshita
openaire   +1 more source

A Distributed Control For Hyper Redundant Manipulator

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2005
This 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 ...
H. Kobayashi, E. Shimemura, K. Suzuki
openaire   +1 more source

IMMUNOLOGY-BASED MOTION CONTROL FOR MODULAR HYPER-REDUNDANT MANIPULATORS

IFAC Proceedings Volumes, 2005
Abstract Artificial Immune System (AIS) has recently been actively researched with a number of emerging engineering applications that has capitalized from its characteristics including self-organization, distributive control, knowledge mapping and fault tolerance.
Ng, AKS, Lau, HYK
openaire   +2 more sources

A hyper-redundant manipulator for Mobile Manipulating Unmanned Aerial Vehicles

2013 International Conference on Unmanned Aircraft Systems (ICUAS), 2013
Due to their ability to navigate in 6 degree of freedom space, Unmanned Aerial Vehicles (UAVs) can access many locations that are inaccessible to ground vehicles. While mobile manipulation is an extremely active field of research for ground traveling host platforms, UAVs have historically been used for applications that avoid interaction with their ...
Todd W. Danko, Paul Y. Oh
openaire   +1 more source

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 ...
openaire   +1 more source

Generalized software components for reconfiguring hyper-redundant manipulators

IEEE/ASME Transactions on Mechatronics, 2002
An application of Operational Software Components for Advanced Robotics (OSCAR) - a generalized robotic software framework - for kinematic control of hyper-redundant, self-reconfigurable systems is presented. OSCAR includes generalized kinematics, dynamics, device interfacing, and criteria-based decision making.
M.W. Pryor, R.C. Taylor, C. Kapoor, D. Tesar   +3 more
openaire   +1 more source

A ‘Multilink Spatial Hyper Redundant’ Manipulator

2012
Conventionally, 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, Sabarish Sivaprakasham, Dinesh Kumar, M. Madhu   +3 more
openaire   +1 more source