Results 251 to 260 of about 3,485 (285)

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.
H. Kobayashi, S. Ohtake
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Dynamic control of curve-constrained hyper-redundant manipulators

Proceedings 2001 IEEE International Symposium on Computational Intelligence in Robotics and Automation (Cat. No.01EX515), 2002
Hyper-redundant manipulators have large number of kinematic degrees of freedom, thus possessing some unconventional features such as the ability to enter a narrow space while avoiding obstacles. To control these hyper-redundant manipulators accurately, the manipulator dynamics must be included into consideration.
null Shugen Ma, M. Watanabe, H. Kondo
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Reconfiguration of joint locked hyper-redundant space manipulator

Proceedings of the 2015 Conference on Advances In Robotics, 2015
This paper presents a strategy for the reconfigurable robot exploiting redundancy of 6 DOF planar space robot. The space robots are frequently used to maneuver in harsh environments. The extreme nature of these environments increases the likelihood of robot failure. In this case, the robot reconfiguration becomes a necessity for smooth motion planning.
Vijay Kumar Dalla, Pushparaj Mani Pathak
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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), 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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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, Raúl Lesso-Arroyo, J. Santos García-Miranda   +2 more
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Construction of a Hyper Redundant Robotic Tentacle Manipulator

2012
Abstract : This report presents the design and development of a robotic tentacle manipulator research platform as a tool to explore new methods of enhancing the capabilities of remotely operated manipulators, autonomous manipulation, and autonomous search.
Derek Scherer, Miles C. Pekala
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Discrete kinematic synthesis of discretely actuated hyper-redundant manipulators

Robotica, 2013
SUMMARYDiscrete kinematic synthesis of discretely actuated hyper-redundant manipulators is a new practical problem in robotics. The problem concerns with determining the type of each manipulator module from among several specific types, so that the manipulator could reach several specified target frames with the lowest error.
Alireza Motahari, Hassan Zohoor, M. Habibnejad Korayem   +2 more
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Wrench Capability of Hyper-redundant Planar Parallel Manipulators

2020
In this paper a procedure to obtain the wrench capability in three hyper-redundant manipulators with 7, 8 and 9 Degrees of Freedom is presented. The studied manipulators are a \(7\underline{R}RR\) manipulator, a \(8\underline{R}RR\) manipulator and a \(9\underline{R}RR\) manipulator.
Leonardo Mejia, Daniel Ponce, Henrique Simas, Daniel Martins   +3 more
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On the Dynamical Control of Hyper Redundant Manipulators

2004
The 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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Hyper redundant manipulator using compound three-bar linkages

Journal of Mechanical Science and Technology, 2005
A new mechanism for hyper redundant manipulator (HRM) is presented, which comprises of serially assembled compound three-bar linkages (CTL) The CTL mechanism has some Unique properties This paper presents the forward and Inverse kinematics of this mechanism and shows the simulation of the HRM havig 9 CTL units The recursive algorithm of the ,"verse ...
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