Kinematically optimal hyper-redundant manipulator configurations
نویسندگان
چکیده
منابع مشابه
Kinematically 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...
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being solved to determine the corresponding required joint values, 8(t;). A kinematically redundant manipulator can, in general, satisfy an end-effector positioning constraint, x(t;), with an infinite family of joint values satisfying (2). The underlying premise for advocating the use of redundant manipulators for critical applications is that if a joint should fail, then the redundancy of the ...
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. . . 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...
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. . . . . . . . . . . . . . . . . . v 1 . INTRODUCTION . . . . . . . . . . . . . . . . 1 2 . PROBLEM STATEMENT AND SYSTEM DESCRIPTION . . . . 3 2.1 SYSTEM VARIABLES AND COORDINATE FRAMES . . . . 3 2.2 KINEMATIC MANIPULATOR MODEL . . . . . . . . . 3 2.3 DYNAMIC MANIPULATOR MODEL . . . . . . . . . 5 3 . RESOLUTION OF KINEMATIC REDUNDANCY . . . . . . . 7 3.1 SELECTION OF E AND k . . . . . . . . . ...
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In this work, the 3-RPRR, a new kinematically redundant planar parallel manipulator with six degrees of freedom, is presented. First the manipulator is introduced and its inverse displacement problem discussed. Then, all types of the singularities of the 3-RPRR manipulator are analysed and demonstrated. Thereafter, the reachable and dexterous workspaces are obtained and compared with those of t...
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ژورنال
عنوان ژورنال: IEEE Transactions on Robotics and Automation
سال: 1995
ISSN: 1042-296X
DOI: 10.1109/70.478427