Collision free control of variable length hyper redundant robot manipulator
Hyper-redundant robot (HRR) manipulators are useful at navigating convoluted paths, but conventionally complicated to control. The control of a hyper-redundant manipulator is complex due to its redundancy. In this paper, a simple but effective control algorithm for obstacle avoidance is propos...
| Main Authors: | , , , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Trans Tech Publications Ltd., Switzerland
2014
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| Subjects: | |
| Online Access: | http://irep.iium.edu.my/36220/ http://irep.iium.edu.my/36220/ http://irep.iium.edu.my/36220/ http://irep.iium.edu.my/36220/1/Annisa_Applied_Mechanics.pdf |
| Summary: | Hyper-redundant robot (HRR) manipulators are useful at navigating convoluted paths, but
conventionally complicated to control. The control of a hyper-redundant manipulator is complex due
to its redundancy. In this paper, a simple but effective control algorithm for obstacle avoidance is
proposed. The algorithm derives a collision free path around known obstacles so that the end-effector
of a variable length hyper redundant robot (VHRR) is able to reach the target location following the
path without hitting the obstacles. The algorithm can be grouped into two tasks to drive the
end-effector along the collision free trajectories: first, solve the inverse kinematics without
disregarding the existence of obstacles in the system; and second, fit the manipulator to the respective
prescribe trajectories. This method has the capability to allow VHRR maneuver within its workspace
without penetrating to the neighboring obstruction. Further, this method is very effective in the sense
that it forms a nice coil profile avoiding zig-zag configuration, and thus eliminates sharp turn on the
robot. The performance of a VHRR was tested through simulation to demonstrate the effectiveness of
the proposed method. The approach succeeded in delivering the path that avoids obstacle. |
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