A geometrical inverse kinematics method for hyper-redundant manipulators

Yahya, Samer; Mohamed, Haider A. F.; Moghavvemi, Mahmoud; Yang, Shuai

doi:10.1109/icarcv.2008.4795829

Cited by 17 publications

(8 citation statements)

References 8 publications

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“…There have been numerous studies about hyper-redundant manipulator, including kinematics and dynamics [11], inverse kinematics [12] and path planning [13] studies. However, the proposed coupled tendon-driven mechanism imposes a highly coupled interaction between each joint torque unlike previous studies [4] [7].…”

Section: Control Algorithmmentioning

confidence: 99%

Super Dragon: A 10-m-Long-Coupled Tendon-Driven Articulated Manipulator

Endo

Horigome

Takata

2019

IEEE Robot. Autom. Lett.

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The decommissioning of the Fukushima Daiichi Nuclear Power Plants is a national urgent problem in Japan. The distribution and characteristics of the fuel debris inside the nuclear reactor must be investigated to safely retrieve them. This study describes a 10 m-long articulated manipulator for investigation inside the primary container vessel. We employed a coupled tendon-driven mechanism and a gravity compensation mechanism using synthetic fiber ropes to design a lightweight and slender articulated manipulator. After discussing the basic principle and control algorithm, we focus on the detailed mechanical design of a prototype model. We confirmed its feasibility through basic motion experiments.

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Section: Control Algorithmmentioning

confidence: 99%

Super Dragon: A 10-m-Long-Coupled Tendon-Driven Articulated Manipulator

Endo

Horigome

Takata

2019

IEEE Robot. Autom. Lett.

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“…Similar solutions of three sequential rotations with dimensions of (3 × 3) (Rz, Ry, R-z) (where positive rotations are clockwise) can be seen in refs. [19] and [21]. The difference between these approaches and the proposed method is the use of homogenous matrices and the proposed equations.…”

Section: Kinematic Descriptionmentioning

confidence: 99%

“…In this optimization, the distance between the end-effector and the target is constrained, leading to solutions of low accuracy. A geometric method for solving the equations pertaining to a planar hyper-redundant manipulator has been proposed by; 19 however, this approach fails for backbones with more than one DoF in each disc, while some solutions result in errors due to the redundancy in the system. Also, closed form solutions for continuum robots composed of a continuously bendable backbone have been proposed; 20 however, the method is presented as a singlesection solution and no information was provided about the errors produced in multiple sections for desired vs. calculated trajectories.…”

Section: Introductionmentioning

confidence: 99%

Kinematic model to control the end-effector of a continuum robot for multi-axis processing

2015

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SUMMARYThis paper presents a novel kinematic approach for controlling the end-effector of a continuum robot for in-situ repair/inspection in restricted and hazardous environments. Forward and inverse kinematic (IK) models have been developed to control the last segment of the continuum robot for performing multi-axis processing tasks using the last six Degrees of Freedom (DoF). The forward kinematics (FK) is proposed using a combination of Euler angle representation and homogeneous matrices. Due to the redundancy of the system, different constraints are proposed to solve the IK for different cases; therefore, the IK model is solved for bending and direction angles between (−π/2 to +π/2) radians. In addition, a novel method to calculate the Jacobian matrix is proposed for this type of hyper-redundant kinematics. The error between the results calculated using the proposed Jacobian algorithm and using the partial derivative equations of the FK map (with respect to linear and angular velocity) is evaluated. The error between the two models is found to be insignificant, thus, the Jacobian is validated as a method of calculating the IK for six DoF.

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“…Yahya et al proposed a geometric method to find the optimal solution of inverse kinematics of redundant or hyper-redundant robots from infinite solutions. 16 Ananthanarayanan and Ordóñez took the analytical solution as the initial value and iteratively solved the objective function to obtain the solution of inverse kinematics. 17 Modern intelligent algorithms are widely used to solve inverse kinematics of robots with complex structures.…”

Section: Introductionmentioning

confidence: 99%

A postprocessing and path optimization based on nonlinear error for multijoint industrial robot-based 3D printing

Gao

et al. 2020

International Journal of Advanced Robotic Systems

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Multijoint industrial robots can be used for 3D printing to manufacture the complex freeform surfaces. The postprocessing is the basis of the precise printing. Due to the nonlinear motion of the rotational joint, nonlinear error is inevitable in multijoint industrial robots. In this article, the postprocessing and the path optimization based on the nonlinear errors are proposed to improve the accuracy of the multijoint industrial robots-based 3D printing. Firstly, the kinematics of the multijoint industrial robot for 3D printing is analyzed briefly based on product of exponential (POE) theory by considering the structure parameters. All possible groups of joint angles for one tool pose in the joint range are obtained in the inverse kinematics. Secondly, the nonlinear error evaluation based on the interpolation is derived according to the kinematics. The nonlinear error of one numerical control (NC) code or one tool pose is obtained. The principle of minimum nonlinear error of joint angle is proposed to select the appropriate solution of joint angle for the postprocessing. Thirdly, a path smoothing method by inserting new tool poses adaptively is proposed to reduce the nonlinear error of the whole printing path. The smooth level in the smoothing is proposed to avoid the endless insertion near the singular area. Finally, simulation and experiments are carried out to testify the effectiveness of the proposed postprocessing and path optimization method.

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A geometrical inverse kinematics method for hyper-redundant manipulators

Cited by 17 publications

References 8 publications

Super Dragon: A 10-m-Long-Coupled Tendon-Driven Articulated Manipulator

Super Dragon: A 10-m-Long-Coupled Tendon-Driven Articulated Manipulator

Kinematic model to control the end-effector of a continuum robot for multi-axis processing

A postprocessing and path optimization based on nonlinear error for multijoint industrial robot-based 3D printing

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