An Obstacle Avoidance Scheme for Planar Hyper-Redundant Manipulators.

• Ma Shugen

  Faculty of Engineering, Ibaraki University

• Konno Mototsugu

  Graduate School, Ibaraki University

Bibliographic Information

Other Title

• 形状空間における平面超冗長マニピュレータの障害物回避手法
• ケイジョウ クウカン ニ オケル ヘイメン チョウ ジョウチョウ マニピュレー

Abstract

Hyper-redundant manipulator has a very large or infinite degrees of kinematic redundancy, thus possesses some unconventional features such as the ability to enter a narrow space while avoiding obstacles. In this paper, we propose a new technique for a planar hyper-redundant manipulator to avoid the existing static obstacles in environment while performing a payload-location task from point to point. It is based on analysis in the defined posture space, where three parameters were used to determine the hyper-redundant manipulator configuration. The scheme is verified by computer simulation in case of using the model of the developed Hyper-R Arm. It shows that our method works perfect and the obstacles are well avoided globally.

Journal

• Journal of the Robotics Society of Japan

  Journal of the Robotics Society of Japan 15 (7), 1019-1024, 1997

  The Robotics Society of Japan

Keywords

• Hyper-redundant Manipulator
• Real-time Posture Control
• Posture Space
• Obstacle Avoidance Control
• Cell Decomposition

Details

• CRID: 1390001204726272896
• NII Article ID: 10007549778
• NII Book ID: AN00141189
• DOI: 10.7210/jrsj.15.1019
• ISSN: 18847145
• ISSN: 02891824
• NDL BIB ID: 4323556
• Web Site: https://ndlsearch.ndl.go.jp/books/R000000004-I4323556
• Text Lang: ja
• Data Source:
  • JaLC
  • NDL
  • Crossref
  • CiNii Articles
• Abstract License Flag: Disallowed