Results 231 to 240 of about 1,419,907 (265)
Some of the next articles are maybe not open access.
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
openaire +2 more sources
Kinematics of Hyper-Redundant Manipulators
1991A “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 modular manipulator arm
2000 26th Annual Conference of the IEEE Industrial Electronics Society. IECON 2000. 2000 IEEE International Conference on Industrial Electronics, Control and Instrumentation. 21st Century Technologies and Industrial Opportunities (Cat. No.00CH37141), 2002We introduce the hyper-redundant modular manipulator arm (HRMA) ground test system, which is the ground experimental model for the technology of orbital maintenance system (OMS). OMS consists of three steps: 1) inspecting the satellite, 2) re-orbiting the useless satellite, and 3) simply repairing satellites in space.
S. Kimura +7 more
openaire +1 more source
A discrete model for the configuration control of hyper-redundant manipulators
Proceedings of International Conference on Robotics and Automation, 2002The macroscopic geometric shape of a hyper-redundant manipulator can be described by a curve which is called the reference or backbone curve (BBC). In this paper, a discrete model with compliance is developed for the BBC that is a practical approximation to a continuous elastic cord. Based on the proposed model, kinematic redundancy is resolved through
Kourosh E. Zanganeh +2 more
openaire +2 more sources
A variational approach to path planning for hyper-redundant manipulators
Robotics and Autonomous Systems, 2009Motion planning for hyper-redundant manipulators in a complicated and cluttered workspace is a challenging problem. Many of the path planning algorithms, based on cell decomposition or potential field, fail due to the high dimensionality and complex nature of the C-space.
Bhaskar Dasgupta +2 more
openaire +1 more source
A continuum approach to hyper-redundant manipulator dynamics
Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93), 2002Hyper-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 ...
openaire +1 more source
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
openaire +1 more source
Reconfiguration of joint locked hyper-redundant space manipulator
Proceedings of the 2015 Conference on Advances In Robotics, 2015This 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
openaire +1 more source
Hyper-redundant manipulator dynamics: a continuum approximation
Advanced Robotics, 1994Hyper-redundant, or 'snake-like', 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 ...
openaire +1 more source
The inverse kinematics of hyper-redundant manipulators using splines
Proceedings of 1995 IEEE International Conference on Robotics and Automation, 2002This paper presents a spline-based solution method for the inverse kinematics of hyper-redundant manipulators. The reference or backbone curve, that describes the macroscopic geometric shape of the manipulator is modelled by cubic and quintic piecewise parametric spline segments. A procedure for the coordinate frame distribution is proposed that allows
Kourosh E. Zanganeh, Jorge Angeles
openaire +2 more sources