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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.
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Hyper redundant manipulator using compound three-bar linkages
2001 IEEE/ASME International Conference on Advanced Intelligent Mechatronics. Proceedings (Cat. No.01TH8556), 2000A mechanism for a hyper redundant manipulator (HRM) is presented, which comprises serially assembled compound three-bar linkages (CTLs). The CTL mechanism has some unique properties. The paper presents the forward and inverse kinematics of this mechanism and shows the simulation of the HRM with 12 CTL, units. A recursive algorithm of inverse kinematics
Koichi Koganezawa, Takashi Kinoshita
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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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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 ...
H. Kobayashi, E. Shimemura, K. Suzuki
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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
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RRT-Based Path Planning for Follow-the-Leader Motion of Hyper-Redundant Manipulators
IEEE/RJS International Conference on Intelligent RObots and Systems, 2021Hyper-redundant manipulators with slender body and high dexterity are widely applied for operations in confined spaces. Among the motion planning methods for these operations, the follow-the-leader motion controller is generally developed to avoid the ...
Hanghang Wei, Yanggu Zheng, Guoying Gu
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Robotica (Cambridge. Print), 2021
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
Xiaobo Zhang, Jinguo Liu, Yangmin Li
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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
Xiaobo Zhang, Jinguo Liu, Yangmin Li
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A Kinematics Method of Hyper-Redundant Manipulators Based on Morphologic Space Constraints
IEEE Transactions on Systems, Man, and Cybernetics: SystemsWhile a great number of degree of freedom (DOF) of hyper-redundant manipulators brings superior dexterity, it also challenges the more complicated kinematics algorithms.
Xiantong Xu, Haibo Xie, Cheng Wang
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International Conference on Advanced Robotics, 2021
In recent years, long-reach cable-driven hyper-redundant manipulators have been spreading into the field of robotics inspection, thanks to their ability to move through narrow spaces and harsh environments.
D. Ludovico +5 more
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In recent years, long-reach cable-driven hyper-redundant manipulators have been spreading into the field of robotics inspection, thanks to their ability to move through narrow spaces and harsh environments.
D. Ludovico +5 more
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IMMUNOLOGY-BASED MOTION CONTROL FOR MODULAR HYPER-REDUNDANT MANIPULATORS
IFAC Proceedings Volumes, 2005Abstract Artificial Immune System (AIS) has recently been actively researched with a number of emerging engineering applications that has capitalized from its characteristics including self-organization, distributive control, knowledge mapping and fault tolerance.
Ng, AKS, Lau, HYK
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