Motion-Planning Algorithm for a Hyper-Redundant Manipulator in Narrow Spaces

In this study, a hyper-redundant manipulator was designed for detection and searching in narrow spaces aerospace earthquake rescue applications. A forward kinematics equation the derived using homogeneous coordinate transformation method. Based on modal function backbone curve method known path, an improved curves proposed. First, configuration of divided into two parts: mode segment path segment. By changing discrete points along when it reached specified point dynamically obtained, then joint positions were fitted to main by dichotomy. Combined with engineering examples, simulation experiments performed new algorithm extract mathematical models external space environments. The experimental results showed that algorithm, could complete tasks passing through curved pipes moving workspaces. effectiveness also proven these experiments.