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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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Multi-target Approaching Control of Hyper-redundant Manipulators using Reinforcement Learning
IEEE International Conference on Robotics and Biomimetics, 2023Hyper-redundant manipulators have superior dexterity. However, conventional control based on accurate modeling is difficult to achieve. This paper proposes a control method for the hyper-redundant manipulator to complete target approaching tasks using ...
Han Xu +4 more
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IEEE Robotics and Automation Letters, 2021
Continuum hyper-redundant manipulators (CHRMs) have been widely applied in aerospace, medical or other fields to complete tasks in narrow and multi-obstacles environments with its unique structural advantages.
Yu Tian +4 more
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Continuum hyper-redundant manipulators (CHRMs) have been widely applied in aerospace, medical or other fields to complete tasks in narrow and multi-obstacles environments with its unique structural advantages.
Yu Tian +4 more
semanticscholar +1 more source
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
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Design and study of a novel hyper-redundant manipulator
Robotica, 2003Summary A novel hyper-redundant manipulator named RT1 is presented in this paper. The key feature of RT1 is that all degrees of freedom (DOF) are actuated with only one motor, via specially designed hinge bar universal joints. The mechanism of RT1 which includes a special hinge bar universal joint, bend structure and motion diversion structure is ...
Yanming Li +5 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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International Conference Robotics and Automation Engineering, 2022
A hyper-redundant manipulator has high flexibility and adaptability to conduct exploration or maintenance in a narrow space due to its many degrees of freedom(DOFs). However, the hyper-redundancy of its DOFs brings challenges to motion control.
Hongcheng Ji, Haibo Xie, Huayong Yang
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A hyper-redundant manipulator has high flexibility and adaptability to conduct exploration or maintenance in a narrow space due to its many degrees of freedom(DOFs). However, the hyper-redundancy of its DOFs brings challenges to motion control.
Hongcheng Ji, Haibo Xie, Huayong Yang
semanticscholar +1 more source
An RRT-Based Motion Planning Method for Hyper-Redundant Manipulators in Confined Spaces
IEEE International Conference on Robotics and Biomimetics, 2022Hyper-redundant manipulators have redundant degrees of freedom, bringing additional difficulties to the motion planning. Generally, existing motion planning methods generate paths without considering joint angle limitation of hyper-redundant manipulators.
Jiangqin Deng +3 more
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A Hybrid Hand–Eye Calibration Method for Multilink Cable-Driven Hyper-Redundant Manipulators
IEEE Transactions on Instrumentation and Measurement, 2021Multilink cable-driven hyper-redundant manipulators (MCDHMs) have a slender body and flexible movement characteristics, which are very suitable for complex unstructured environments.
Jianqing Peng +4 more
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Multilevel Motion Control of Cable-Driven Hyper-Redundant Manipulators
IEEE/ASME transactions on mechatronicsThe cable-driven hyper-redundant manipulator (CDHRM) is characterized by a high number of joints, high degrees of freedom, and flexible motion, which pose challenges to its motion control.
Zhipeng Li +5 more
semanticscholar +1 more source