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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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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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Time-optimal trajectory planning for hyper-redundant manipulators in 3D workspaces
Robotics and Computer-Integrated Manufacturing, 2018Elias K Xidias
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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 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
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A new spatial hyper-redundant manipulator
Robotics and Computer-Integrated Manufacturing, 2009This work presents a novel hyper-redundant manipulator. Such a manipulator is built with a variable number of tandem-assembled modules. Each module consists of a 3-dof parallel manipulator with asymmetric extremities in which moving platform possesses mixed motions with respect to the base platform.
Jaime Gallardo +3 more
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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
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IEEE/ASME transactions on mechatronics
In order to realize the flexible capture of noncooperative targets, a variable-stiffness planning method considering both the overall configuration and cable tension for a hyper-redundant manipulator is proposed in this article.
Luyang Zhang +5 more
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In order to realize the flexible capture of noncooperative targets, a variable-stiffness planning method considering both the overall configuration and cable tension for a hyper-redundant manipulator is proposed in this article.
Luyang Zhang +5 more
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Trajectory Planning for Hyper-Redundant Manipulators Based on Lie Theory
International Conference on Real-time Computing and Robotics, 2021Trajectory planning has always been an area worthy of attention in the application of hyper-redundant robots. This paper proposes a method using Lie group to achieve trajectory planning for hyper-redundant manipulators.
Tianyu Liu, Mingchao Zhu, Lieheng Chen
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IEEE Transactions on Industrial Informatics
Cable-driven hyper-redundant manipulators (CDHRMs) enable unique tasks in confined spaces while presenting challenges for collision-free path planning. This article introduces a novel planning method called the stepwise follow-the-leader (SFTL) algorithm.
Mingrui Luo +4 more
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Cable-driven hyper-redundant manipulators (CDHRMs) enable unique tasks in confined spaces while presenting challenges for collision-free path planning. This article introduces a novel planning method called the stepwise follow-the-leader (SFTL) algorithm.
Mingrui Luo +4 more
semanticscholar +1 more source