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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), 2002Hyper-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.
Shugen Ma +2 more
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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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Path tracking with the links of a planar hyper‐ redundant robotic manipulator
Journal of Robotic Systems, 1995AbstractA technique for path tracking with the links of a planar hyper‐redundant robotic manipulator is presented. It is a joint‐space trajectory planning method that can be used for obstacle avoidance by ensuring that the links of the manipulator closely follow a collision‐free path planned for the tool.
Robert J. Schilling +3 more
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A hyper-redundant manipulator for Mobile Manipulating Unmanned Aerial Vehicles
2013 International Conference on Unmanned Aircraft Systems (ICUAS), 2013Due 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
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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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Design and Control of a Hyper-Redundant Manipulator for Mobile Manipulating Unmanned Aerial Vehicles
Journal of Intelligent & Robotic Systems, 2013Manipulating objects using arms mounted to unmanned aerial vehicles (UAVs) is attractive because UAVs may access many locations that are otherwise inaccessible to other mobile manipulation platforms such as ground vehicles. Despite recent work, several major challenges remain to be overcome before it will be practical to manipulate objects from UAVs ...
Todd W. Danko, Paul Y. Oh
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Construction of a Hyper Redundant Robotic Tentacle Manipulator
2012Abstract : 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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E-RRT*: Path Planning for Hyper-Redundant Manipulators
IEEE Robotics and Automation Letters, 2023Hongcheng Ji +3 more
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An iterative path-following method for hyper-redundant snake-like manipulator with joint limits
Industrial Robot, 2023Haibo Xie, Huayong Yang
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