Minimally actuated serial robot

Mann, Moshe P.; Damti, Lior; Zarrouk, David

doi:10.1017/s0263574717000479

Cited by 10 publications

(6 citation statements)

References 19 publications

(28 reference statements)

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“…This means that if the motion of the latter is described by a parametric curve in c-space, then a curve representing the motion of the MASR in c-space can be constructed such that every point along it lies within a δ -norm of the latter. Moreover, given the error norm δ , the end point error of the MASR relative to the fully actuated robot was shown by Mann et al 25 to lie within a well-defined range.…”

Section: Kinematic Constraintsmentioning

confidence: 99%

“…Despite that limitation, it has been proven by Mann et al 25 that the MASR can duplicate the geometric c-space path of a fully actuated robot with the same dimensions and DOFs to within any desired degree of accuracy. This means that if the motion of the latter is described by a parametric curve in c-space, then a curve representing the motion of the MASR in c-space can be constructed such that every point along it lies within a δ -norm of the latter.…”

Section: Kinematic Constraintsmentioning

confidence: 99%

“…The particular high-dimensional motion planner that we are constructing has a unique constraint in that it is designed to plan the motions of the minimally actuated serial robot (MASR), described in detail by Mann et al 25 The MASR is a planar serial robot consisting of multiple links connected by passive joints and of a small number of movable actuators, as shown in Figure 1. The actuators translate over the links to any given joint and adjust it to the desired angular displacement.…”

Section: Introductionmentioning

confidence: 99%

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Minimally actuated hyper-redundant robots: Motion planning methods based on fractals and self-organizing systems

Mann

Damti

Zarrouk

2019

International Journal of Advanced Robotic Systems

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This article presents a motion planning method for a novel hyper-redundant robot with minimal actuation based on the principles of fractals and self-organizing systems. The robot consists of multiple links connected by passive joints and a movable actuator. The actuator travels over the links to a given joint and adjusts the relative angle between the two adjacent links allowing the robot to undergo the same wide range of motions of hyper-redundant robot but with only one actuator. A suitable objective of the motion planner is to minimize the number of actuator traversals, which translates into minimizing the number of bends in the c-space trajectory. To this end, we propose a novel method for motion planning using fractals and self-organizing systems. A self-similar pattern for the path is implemented to map a path from start to finish. Each iteration of path segments is of smaller dimension than the previous one and is appended to it, just as in classical fractals. This process continues until a feasible trajectory is calculated. Self-organizing systems are then applied to this trajectory post-processing to optimize it by eliminating bends in the path. Examples of the robot maneuvering around obstacles and through confined spaces are shown to demonstrate the efficacy of the motion planner.

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Section: Kinematic Constraintsmentioning

confidence: 99%

Section: Kinematic Constraintsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Minimally actuated hyper-redundant robots: Motion planning methods based on fractals and self-organizing systems

Mann

Damti

Zarrouk

2019

International Journal of Advanced Robotic Systems

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“…He presented a synergy-based algorithm between convex optimization, disjunctive programming, and receding horizon to realize the global optimum solution and low computational time. MP Mann et al 9 put forward a novel type of serial robot with minimal actuation, through its unique modular structure design, to get pass a confined space and reach the target. In addition, some other methods, such as the artificial potential field, 10 rapidly exploring random tree (RRT), 11,12 and probabilistic road map (PRM) 13 have also been used in the obstacle avoidance trajectory planning of the manipulator.…”

Section: Introductionmentioning

confidence: 99%

An intermediate point obstacle avoidance algorithm for serial robot

Chen

et al. 2018

Advances in Mechanical Engineering

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The trajectory planning and obstacle avoidance of serial robot is an important area of research and efficient optimization algorithms are needed. This article proposes an intermediate point obstacle avoidance algorithm to ensure smooth trajectory and efficient movement during the obstacle avoidance process. Using the intermediate point obstacle avoidance algorithm, the robotic arm can steer obstacle around with the minimum joint space variations and the shortest end motion trajectory. We also design a novel collision detection strategy and fitness evaluation function based on genetic algorithm to optimize the intermediate point parameters. In order to evaluate the performance of the intermediate point obstacle avoidance algorithm, we have conducted three typical experiments: single obstacle, multiple obstacles, and no obstacle. The experimental results demonstrate that the proposed method can not only effectively realize the obstacle avoidance, but also efficiently improve the movement performance of the robotic arm.

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“…5 Yet, another example which has similarities with the work presented in this paper is the minimally actuated serial robot. 6 This robot uses a minimal number of actuators to provide movement to the joints of a redundant serial robot. However, the complexity of the actuation mechanism does not allow the robot to perform trajectories quickly.…”

Section: Introductionmentioning

confidence: 99%

Modelling, trajectory optimisation and prototyping of sequentially actuated manipulators

Harton¹,

Laliberté²,

Gosselin³

2018

Robotica

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SUMMARYThis paper presents a concept of sequentially actuated multi-degree-of-freedom (DOF) robot with only one motor. A switching mechanism allowing to actuate sequentially the different joints–or combinations of the joints–of the robot is also proposed. Potential actuation schemes (joint combinations) are presented and their properties are discussed. Cartesian pick-and-place trajectories are then considered using different actuation schemes. An optimisation algorithm is presented in order to provide the best possible sequence by minimising the amplitude of the joint rotations for a given actuation combination. A simple planar two-DOF and the SCARA architectures are used to illustrate the concept. Finally, a prototype is developed with the aim of demonstrating the sequentially actuated manipulator concept.

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Minimally actuated serial robot

Cited by 10 publications

References 19 publications

Minimally actuated hyper-redundant robots: Motion planning methods based on fractals and self-organizing systems

Minimally actuated hyper-redundant robots: Motion planning methods based on fractals and self-organizing systems

An intermediate point obstacle avoidance algorithm for serial robot

Modelling, trajectory optimisation and prototyping of sequentially actuated manipulators

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