Results 221 to 230 of about 1,419,907 (265)
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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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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Robotica, 2022 This paper proposes a kinematic obstacle avoidance algorithm for Space hyper-redundant manipulators, and its basic idea is to use a static and a dynamic curve to constrain the macroshape of the manipulators simultaneously. The static curve is constructed
Yangmin Li, Jinguo Liu, Xiaobo Zhang
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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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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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Tendon-Driven Hyper-Redundant Manipulators: A Review on Design Solutions
IEEE/ASME Transactions on MechatronicsDue to their uniqueness, hyper-redundant manipulators are becoming increasingly relevant in robotics research. The abundance of degrees of freedom makes them adaptable to a variety of applications across various fields, including inspection, medical ...
Carlo Canali +2 more
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A Geometric Approach to Inverse Kinematics of Hyper-Redundant Manipulators for Tokamaks Maintenance
Mechanism and Machine Theory, 2022 This work proposes a geometric approach to inverse kinematics of hyper-redundant manipulators used for remote maintenance of nuclear fusion reactors.
Clemente Lauretti +2 more
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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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Analysis of Hyper-Redundant Manipulators
Volume 7A: 17th Biennial Conference on Mechanical Vibration and Noise, 1999Abstract 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 +2 more
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