Conceptual study of a class of hybrid hyper-redundant robot

Chibani, Abdelhakim; Mahfoudi, Chawki; Chettibi, Taha

doi:10.1109/robio.2012.6491262

Cited by 4 publications

(2 citation statements)

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“…For example studies such as the one by Chirikjian and Burdick [8] used a 2 dimensional arms with 30 degrees of freedom. There are some solutions that have been proposed addressing some of those technical difficulties such as studies that focus on building hyper-redundant robotic arms [9], [10], [11], [12], [13], [14], and studies that deal with the design of joints with many DoFs per joint, used for hyper-redundant arms [15], [16], [17].…”

Section: A Related Workmentioning

confidence: 99%

Dynamically efficient kinematics for hyper-redundant manipulators

Xanthidis

Kyriakopoulos

Rekleitis

2016

2016 24th Mediterranean Conference on Control and Automation (MED)

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A hyper-redundant robotic arm is a manipulator with many degrees of freedom, capable of executing tasks in cluttered environments where robotic arms with fewer degrees of freedom are unable to operate. This paper introduces a new method for modeling those manipulators in a completely dynamic way. The proposed method enables online changes of the kinematic structure with the use of a special function; termed "meta-controlling function". This function can be used to develop policies to reduce drastically the computational cost for a single task, and to robustly control the robotic arm, even in the event of partial damage. The direct and inverse kinematics are solved for a generic three-dimensional articulated hyperredundant arm, that can be used as a proof of concept for more specific structures. To demonstrate the robustness of our method, experimental simulation results, for a basic "metacontrolling" function, are presented.

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Section: A Related Workmentioning

confidence: 99%

Dynamically efficient kinematics for hyper-redundant manipulators

Xanthidis

Kyriakopoulos

Rekleitis

2016

2016 24th Mediterranean Conference on Control and Automation (MED)

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“…Due to the complexity of the mechanical structure of an HRPR, its practical exploitation leads to numerous challenges from modeling and control points of view. In this article, as a continuation of previous work, 15,16 we focus on the fundamental issue of generating optimal kinematic configuration allowing an HRPR to join a given operational configuration. Related to existing cited works, the optimization process does not consider a predefined distribution of platforms.…”

Section: Introductionmentioning

confidence: 99%

Generating optimal reference kinematic configurations for hyper-redundant parallel robots

Chibani

Mahfoudi

Chettibi³

et al. 2015

Proceedings of the Institution of Mechanical Engineers, Part I:

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International audienceIn this article, we propose an optimization process able to generate optimal kinematic configuration for spatial hyper-redundant manipulators with multiple rigid parallel modules. The proposed method uses a deterministic optimization scheme that evaluates the score of trial kinematic configurations while accounting for various geometric constraints. This versatile method is based on a simultaneous search for both the best curve capturing the overall kinematic robot posture and the platform distribution along this curve. This process is carried out using the powerful sequential quadra-tic programming technique. Numerical results are presented to illustrate the efficiency of the proposed approach. Finally, this model was validated by real measurements obtained with the continuum bionic handling arm of a mobile robot called Robotino-XT

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