General Algorithm of n-Multiple Coil Shape for Variable Links Hyper-Redundant Robotic Manipulator

The ‗S‘ shape formation, termed as multiple coil shape in hyper-redundant manipulator is essential for negotiating cluttered environment that exists inside the human body, engine compartment or within a collapsed building. The flexibility introduced by the multiple coil shape can be further enhanced...

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Main Authors:	Jamali, Annisa, Khan, Md. Raisuddin, Rahman , Md Mozasser
Format:	Conference or Workshop Item
Language:	English
Published:	2011
Subjects:	TJ210.2 Mechanical devices and figures. Automata. Ingenious mechanism. Robots (General)
Online Access:	http://irep.iium.edu.my/7041/ http://irep.iium.edu.my/7041/ http://irep.iium.edu.my/7041/1/General_Algorithm_of_m-Multiple_Coil_Shape_for_Variable_Links_Hyper-Redundant_Robotic_Manipulator.pdf

id	iium-7041
recordtype	eprints
spelling	iium-70412011-12-02T07:11:47Z http://irep.iium.edu.my/7041/ General Algorithm of n-Multiple Coil Shape for Variable Links Hyper-Redundant Robotic Manipulator Jamali, Annisa Khan, Md. Raisuddin Rahman , Md Mozasser TJ210.2 Mechanical devices and figures. Automata. Ingenious mechanism. Robots (General) The ‗S‘ shape formation, termed as multiple coil shape in hyper-redundant manipulator is essential for negotiating cluttered environment that exists inside the human body, engine compartment or within a collapsed building. The flexibility introduced by the multiple coil shape can be further enhanced by having extensible links. In this paper, a general algorithm for n-links hyper-redundant robot manipulator to produce n-multiple coil shape to reach final desired position with variable links is presented. The coil shape produced from a new inverse kinematics solution is based on Virtual Layer Approach. Meanwhile, the multiple coil shape is arranged sequentially in an elbow up and elbow down manner. An algorithm is then developed to control the links of the robot along the path so that the robot will travel in such a way that each of the follower links will take place of the earlier link‘s position. The main advantage of this method is it involves simple computation to each adjoining coil shape. Thus, it eliminates the mathematical complexity in computing m-multiple coil shape. Further, the method allows planar manipulator to reach the same desired position by different paths. Numerical simulations for planar models are presented in order to illustrate the competency of the model. 2011-05-23 Conference or Workshop Item NonPeerReviewed application/pdf en http://irep.iium.edu.my/7041/1/General_Algorithm_of_m-Multiple_Coil_Shape_for_Variable_Links_Hyper-Redundant_Robotic_Manipulator.pdf Jamali, Annisa and Khan, Md. Raisuddin and Rahman , Md Mozasser (2011) General Algorithm of n-Multiple Coil Shape for Variable Links Hyper-Redundant Robotic Manipulator. In: International Conference on Robotic Automation System 2011 (ICORAS2011), 23-24 May 2011, TATIUC, Teluk Kalong, Terengganu, Malaysia . http://tatiuc.edu.my/icoras2011/
repository_type	Digital Repository
institution_category	Local University
institution	International Islamic University Malaysia
building	IIUM Repository
collection	Online Access
language	English
topic	TJ210.2 Mechanical devices and figures. Automata. Ingenious mechanism. Robots (General)
spellingShingle	TJ210.2 Mechanical devices and figures. Automata. Ingenious mechanism. Robots (General) Jamali, Annisa Khan, Md. Raisuddin Rahman , Md Mozasser General Algorithm of n-Multiple Coil Shape for Variable Links Hyper-Redundant Robotic Manipulator
description	The ‗S‘ shape formation, termed as multiple coil shape in hyper-redundant manipulator is essential for negotiating cluttered environment that exists inside the human body, engine compartment or within a collapsed building. The flexibility introduced by the multiple coil shape can be further enhanced by having extensible links. In this paper, a general algorithm for n-links hyper-redundant robot manipulator to produce n-multiple coil shape to reach final desired position with variable links is presented. The coil shape produced from a new inverse kinematics solution is based on Virtual Layer Approach. Meanwhile, the multiple coil shape is arranged sequentially in an elbow up and elbow down manner. An algorithm is then developed to control the links of the robot along the path so that the robot will travel in such a way that each of the follower links will take place of the earlier link‘s position. The main advantage of this method is it involves simple computation to each adjoining coil shape. Thus, it eliminates the mathematical complexity in computing m-multiple coil shape. Further, the method allows planar manipulator to reach the same desired position by different paths. Numerical simulations for planar models are presented in order to illustrate the competency of the model.
format	Conference or Workshop Item
author	Jamali, Annisa Khan, Md. Raisuddin Rahman , Md Mozasser
author_facet	Jamali, Annisa Khan, Md. Raisuddin Rahman , Md Mozasser
author_sort	Jamali, Annisa
title	General Algorithm of n-Multiple Coil Shape for Variable Links Hyper-Redundant Robotic Manipulator
title_short	General Algorithm of n-Multiple Coil Shape for Variable Links Hyper-Redundant Robotic Manipulator
title_full	General Algorithm of n-Multiple Coil Shape for Variable Links Hyper-Redundant Robotic Manipulator
title_fullStr	General Algorithm of n-Multiple Coil Shape for Variable Links Hyper-Redundant Robotic Manipulator
title_full_unstemmed	General Algorithm of n-Multiple Coil Shape for Variable Links Hyper-Redundant Robotic Manipulator
title_sort	general algorithm of n-multiple coil shape for variable links hyper-redundant robotic manipulator
publishDate	2011
url	http://irep.iium.edu.my/7041/ http://irep.iium.edu.my/7041/ http://irep.iium.edu.my/7041/1/General_Algorithm_of_m-Multiple_Coil_Shape_for_Variable_Links_Hyper-Redundant_Robotic_Manipulator.pdf
first_indexed	2023-09-18T20:16:16Z
last_indexed	2023-09-18T20:16:16Z
_version_	1777407808781680640

General Algorithm of n-Multiple Coil Shape for Variable Links Hyper-Redundant Robotic Manipulator

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