منابع مشابه
A hyper-redundant manipulator
. . . a. O...O~...*..I.~..rrlr.r.,..........~.~~~~~~b~...~.~~~*.~*.~~*~~~*.~.~~~~~~.~~8~b#~~*M~906~*~ “Hyper-redundant” manipulators have a very large number of actuatable degrees of freedom. The benefits of hyper-redundant robots include the ability to avaoid obstacles, increased robustness with respect to mechanical failure, and the ability to perform new forms of robot locomotion and graspin...
متن کاملKinematically optimal hyper-redundant manipulator configurations
'Hyper-redundant' robot& have a very large or infinite degree of kinematic redundancy. Thi1 paper develop• methodl for determining the 'optimal' configuration• which 1ati•fy ta1k condrainb while minimizing a weighted mea1ure of mechani•m bending and e:den1ion. The1e method• are based on a continuou• 'backbone curve' which capture• the robot '• euential macro1copic geometric feature•. The Calcul...
متن کاملA modal approach to hyper-redundant manipulator kinematics
AbsfractThis paper presents novel and efficient kinematic modeling techniques for “hyper-redundant” robots. This approach is based on a “backbone curve” that captures the robot’s macroscopic geometric features. The inverse kinematic, or “hyper-redundancy resolution,” problem reduces to determining the time varying backbone curve behavior. To efficiently solve the inverse kinematics problem, we ...
متن کاملDesign of a Lightweight Hyper-Redundant Deployable Binary Manipulator
This paper presents the design of a new lightweight, hyper-redundant, deployable Binary Robotic Articulated Intelligent Device (BRAID), for space robotic systems. The BRAID is intended to meet the challenges of future space robotic systems that need to perform more complex tasks than are currently feasible. It is lightweight, has a high degree of freedom, and has a large workspace. The device i...
متن کاملA General Numerical Method for Hyper-Redundant Manipulator Inverse Kinematics
“!Iyper-reduiidaiiI” robots have a very large or anfinile degree of k inemat ic redundancy. Thas paper zntrodaces a n e w generalized resolved rate technique for soli) I 11 g h ype rredun da n t m a n apulat or inverse kzne m a t i c ~ i i s i i r y a ‘backbone curve. ’ Thas method as applicahlr e v e n zn cases w h e n explzczt representataon of the hrickbone curve intransac geometry cannot be...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: IEEE Robotics & Automation Magazine
سال: 1994
ISSN: 1070-9932
DOI: 10.1109/100.388263