A modal approach to hyper-redundant manipulator kinematics
نویسندگان
چکیده
منابع مشابه
A 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 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 کاملA 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 کاملThe kinematics of hyper-redundant robot locomotion
This paper considers the kinematics of hyperredundant (or “serpentine”) robot locomotion over uneven solid terrain, and presents algorithms to implement a variety of “gaits.” The analysis and algorithms are based on a continuous backbone curve model which captures the robot’s macroscopic geometry. Two classes of gaits, based on stationary waves and traveling waves of mechanism deformation, are ...
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 Transactions on Robotics and Automation
سال: 1994
ISSN: 1042-296X
DOI: 10.1109/70.294209