Collision-free kinematics for hyper-redundant manipulators in dynamic scenes using optimal velocity obstacles

Zhao, Liangliang; Jiang, Zainan; Sun, Yongjun; Zhao, Jingdong; Liu, Hong

doi:10.1177/1729881421996148

Cited by 7 publications

(5 citation statements)

References 40 publications

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“…Step 4: Compute the angle between the plane of desired end effector location to the x-z plane-Then, the 2D inverse kinematics solution is then carried out on the HRR on the x-z plane. Before the algorithm's execution, an angle from the robot's 2D plane to the x-z plane is calculated using the formula in (8).…”

Section: Geometric Approach Algorithmmentioning

confidence: 99%

Axis manipulation to solve Inverse Kinematics of Hyper-Redundant Robot in 3D Space

Winston

Jamali

2022

JIAE

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A solution based on inverse kinematics is required for the robot's end effector, also known as its tip, to reach a target. Current methods for solving the inverse kinematics solution for a hyper-redundant robot in three 3D are generally complex, difficult to visualize, and time-intensive. This requires the development of new algorithms for solving inverse kinematics in a quicker and more efficient manner. In this study, an axis manipulation using a geometrical approach is used. Initially, a general algorithm for a 2 m-link hyper-redundant robot in 3D is generated. The method employed a repetitive basic inverse kinematics solution of a two-link robot on virtual links. The virtual links are generated using a specific geometric proposition. Finally, the 3D solution is generated by rotating about the global z-axis. This method reduces the mathematical complexity required to solve the inverse kinematics solution for a 2-m-link robot. In addition, this method can manage variable link manipulators, thereby eliminating singularity. To demonstrate the effectiveness of the model, numerical simulations of hyper redundant models in 3D are presented. This new geometric approach is anticipated to enhance the performance of hyper-redundant robots, enabling them to be of greater assistance in fields such as medicine, the military, and search and rescue.

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Section: Geometric Approach Algorithmmentioning

confidence: 99%

Axis manipulation to solve Inverse Kinematics of Hyper-Redundant Robot in 3D Space

Winston

Jamali

2022

JIAE

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“…It is necessary to determine the key points of the detected object and know the spatial position information before the algorithm can be applied, and most of these key points are joint points or their offsets. For the joint limit constraints and collision-free constraints for hyper-redundant manipulators, Zhao et al [17] provide an algorithm based on the relation between the forward and backward inverse kinematics. A manipulator is a complex chain structure composed of a series of links.…”

Section: Get the Coordinate Information Of Key Pointsmentioning

confidence: 99%

An effective self-collision detection algorithm for multi-degree-of-freedom manipulator

Liu

Zhang²,

Qin³

et al. 2022

Meas. Sci. Technol.

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In order to address the self-collision problem associated with the operation of modern industrial robots, this paper proposes a multi-degree-of-freedom (multi-DOF) collision detection algorithm that can detect self-collision in single arm and double arm robots as well as collision with the load. Firstly, the zero pose of the Denavit-Hartenberg model is built based on the manipulator configuration, and the coordinate information of each key point is obtained through a rotation and translation operation of the matrix. Then, the positional relation and distance between the detected objects are determined by the spatial geometry theory, and finally, collision is detected using a collision matrix. By simulating two groups of single arms and two groups of double arms, and from the laboratory testing of SR10C in the SIASUN robot factory, it has been verified that the proposed algorithm has good collision detection capability. Without the use of sensors, cameras, and other external devices, the collision between the arm and the load, and the collision between the cooperative robot and the load may be effectively detected and mitigated.

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“…With the rise of the new working mode of human-robot collaboration in health care, services, and other unstructured unknown scenes, [1][2][3][4] the safety of the robots has caused much attention. Safety can be increased by reducing the mass and inertia of robots because the harm of the collision between machine and human body 5 could be weakened when the mass and inertia of robots become smaller.…”

Section: Introductionmentioning

confidence: 99%

A topology optimization method for collaborative robot lightweight design based on orthogonal experiment and its applications

Liu

Sha

Huang

et al. 2022

International Journal of Advanced Robotic Systems

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Topology optimization is an effective method for the lightweight of collaborative robots. The extreme working conditions of the robot for the existing topology optimization approach are usually determined by design experience, which may cause mismatch between the chosen load boundary condition of the parts to be optimized and the actual maximum one. In this article, a kind of topology optimization method based on orthogonal experiment was proposed to avoid this mismatch. For this method, the extreme working condition of robots was determined by finding out the combination of robot joint angles when the stress of the part was maximum based on orthogonal experiment. And then, the structure of the part was optimized with the objective of minimizing mass and the constraint of the maximum end displacement of the robots. Finally, the proposed method and the existing method were applied to the lightweight design of a 7 degree of freedom upper limb powered exoskeleton robot, and the results demonstrated that the presented approach can reduce 6.78% maximum end displacement of the robot on average compared with the existing one. It can be concluded that the proposed method in this article is more reasonable and applicable to the structure optimization of collaborative robots.

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Collision-free kinematics for hyper-redundant manipulators in dynamic scenes using optimal velocity obstacles

Cited by 7 publications

References 40 publications

Axis manipulation to solve Inverse Kinematics of Hyper-Redundant Robot in 3D Space

Axis manipulation to solve Inverse Kinematics of Hyper-Redundant Robot in 3D Space

An effective self-collision detection algorithm for multi-degree-of-freedom manipulator

A topology optimization method for collaborative robot lightweight design based on orthogonal experiment and its applications

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