The inverse kinematics of hyper-redundant manipulators using splines

Zanganeh, Kourosh E.; Ángeles, Jorge

doi:10.1109/robot.1995.525679

Cited by 39 publications

(22 citation statements)

References 7 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…In this context, minimal-energy curves may provide good reference shapes for the robot that minimize joint movement. The work by Zanganeh and Angeles [30] is especially similar to the modeling of elastic wires. Similar to the approach taken in this paper, they pose the problem of finding the optimal shape as an optimization problem over spline parameters.…”

Section: Related Workmentioning

confidence: 95%

See 1 more Smart Citation

Path planning for deformable linear objects

2006

View full text Add to dashboard Cite

Abstract-We present a new approach to path planning for deformable linear (one-dimensional) objects such as flexible wires. We introduce a method for efficiently computing stable configurations of a wire subject to manipulation constraints. These configurations correspond to minimal-energy curves. By restricting the planner to minimal-energy curves, the execution of a path becomes easier. Our curve representation is adaptive in the sense that the number of parameters automatically varies with the complexity of the underlying curve. We introduce a planner that computes paths from one minimal-energy curve to another such that all intermediate curves are also minimal-energy curves. This planner can be used as a powerful local planner in a sampling-based roadmap method. This makes it possible to compute a roadmap of the entire "shape space," which is not possible with previous approaches. Using a simplified model for obstacles, we can find minimal-energy curves of fixed length that pass through specified tangents at given control points. Our work has applications in cable routing, and motion planning for surgical suturing and snake-like robots.

show abstract

Section: Related Workmentioning

confidence: 95%

“…Sometimes, hyperredundant robots (or snake robots) are modeled as flexible curves [29], [30]. In this context, minimal-energy curves may provide good reference shapes for the robot that minimize joint movement.…”

Section: Related Workmentioning

confidence: 99%

Path planning for deformable linear objects

2006

View full text Add to dashboard Cite

show abstract

“…Nevertheless, this approach seems to be restricted to the situation in which the hyper-redundant manipulator is of a serial chain. Zanganeh and Angeles 11 proposed a spline-based solution approach, for given optimality criteria, in which they resolved the redundancy by seeking the optimal shape of the backbone curve. However, the authors supposed a fixed distribution of the intermediate platforms along any candidate curve.…”

Section: Introductionmentioning

confidence: 99%

Inverse kinematics for the variable geometry truss manipulator via a Lagrangian dual method

Zhao

Yang

2016

International Journal of Advanced Robotic Systems

View full text Add to dashboard Cite

This article studies the inverse kinematics problem of the variable geometry truss manipulator. The problem is cast as an optimization process which can be divided into two steps. Firstly, according to the information about the location of the end effector and fixed base, an optimal center curve and the corresponding distribution of the intermediate platforms along this center line are generated. This procedure is implemented by solving a non-convex optimization problem that has a quadratic objective function subject to quadratic constraints. Then, in accordance with the distribution of the intermediate platforms along the optimal center curve, all lengths of the actuators are calculated via the inverse kinematics of each variable geometry truss module. Hence, the approach that we present is an optimization procedure that attempts to generate the optimal intermediate platform distribution along the optimal central curve, while the performance index and kinematic constraints are satisfied. By using the Lagrangian duality theory, a closed-form optimal solution of the original optimization is given. The numerical simulation substantiates the effectiveness of the introduced approach.

show abstract

“…Motion planning is done with the continuous curve and then the rigid link robot is fitted to the updated curve. The backbone curves were chosen as splines [10] and use linear combination of modes [11]. The main drawback in this approach is that the motion planning is done on the curve and hence the axial length of the hyper-redundant manipulator can only be approximately preserved.…”

Section: Introductionmentioning

confidence: 99%

Redundancy Resolution Using Tractrix: Simulations and Experiments

Ravi

Rakshit

Ghosal

2009

Volume 7: 33rd Mechanisms and Robotics Conference, Parts a and B

View full text Add to dashboard Cite

Hyper-redundant robots are characterized by the presence of a large number of actuated joints, many more than the number required to perform a given task. These robots have been proposed and used for many application involving avoiding obstacles or, in general, to provide enhanced dexterity in performing tasks. Making effective use of the extra degrees of freedom or resolution of redundancy have been an extensive topic of research and several methods have been proposed in literature. In this paper, we compare three known methods and show that an algorithm based on a classical curve called the tractrix leads to a more 'natural' motion of the hyper-redundant robot with the displacements diminishing from the end-effector to the fixed base. In addition, since the actuators at the base 'see' the inertia of all links, smaller motion of the actuators nearer to the base results in a smoother motion of the end-effector as compared to other two approaches. We present simulation and experimental results performed on a prototype eight link planar hyper-redundant manipulator. INTRODUCTIONA rigid body moving in a plane has three degrees of freedom and in three dimensional space has six degrees of freedom. In general, one can position and orient the end-effector of a planar/spatial manipulator, in its workspace, with three/six actuated joints. A hyper-redundant robot or manipulator is constructed with a larger number of links and actuated joints than is required

show abstract

The inverse kinematics of hyper-redundant manipulators using splines

Cited by 39 publications

References 7 publications

Path planning for deformable linear objects

Path planning for deformable linear objects

Inverse kinematics for the variable geometry truss manipulator via a Lagrangian dual method

Redundancy Resolution Using Tractrix: Simulations and Experiments

Contact Info

Product

Resources

About