Design, modelling and control of a hyper-redundant 3-RPS parallel mechanism

Mintenbeck, Julien; Estaña, Ramon

doi:10.1109/robio.2010.5723392

Cited by 13 publications

(4 citation statements)

References 9 publications

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“…One type is manipulators driven by binary actuating mechanisms with two steady states, 19,20 and the other type is those whose actuators are continuous but not installed on moving platforms. 21 –23 For the first type of VGTM, Bayram and Ozgoren 19,20 studied the concept design together with the direct kinematics along with position control, respectively, through the use of inverse kinematics of a binary hyper-redundant mechanical arm in space. For VGTMs with the second structure, Iwatsuki et al 21 analyzed the kinematics of a hyper-redundant mechanical arm and proposed a motion control method for it.…”

Section: Introductionmentioning

confidence: 99%

“…For VGTMs with the second structure, Iwatsuki et al 21 analyzed the kinematics of a hyper-redundant mechanical arm and proposed a motion control method for it. Mintenbeck and Estanna 22 investigated the configuration design, physical modeling and motion control of a hyper-constrained 3-revolute prismatic spherical (RPS) parallel robot. Chibani et al 23 presented a deterministic optimizing process to generate optimal reference kinematic configurations for a spatial hyper-redundant parallel robot with multiple rigid modules.…”

Section: Introductionmentioning

confidence: 99%

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Inverse kinematics of asymmetric octahedral variable geometry truss manipulator with obstacle avoidance through inexact interior point optimization

Zhao

Yang

2018

International Journal of Advanced Robotic Systems

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This article studies the inverse kinematics for asymmetric octahedral variable geometry truss manipulator with obstacle avoidance. The inverse kinematics problem is cast as a nonconvex optimization that having quadratic objective function subject to quadratic constraints. This article uses an inexact interior point optimization to solve it, which is developed on the basis of the imprecise algorithm Ipopt. According to the particularity of our actual optimization problem, each iteration undergoes specific modifications so as to minimize the memory consumption as well as computation time. Utilizing the sparse and binary characteristics of the coefficient matrix, respectively, the algorithm allocates the computation to the finite sparse matrix vector multiplication and changes the storage form, which greatly reduces the memory space. Based on the unique rules of inverse kinematics, the iteration direction of the algorithm becomes more clear. With the aid of mechanical constraints inherent in the manipulator, the algorithm omits the feasibility recovery part that embedded in the solver Ipopt. All these make us save the operation time greatly while utilizing Ipopt algorithm. To demonstrate the effectiveness of the proposed approach, the scheme was applied to obstacle avoidance inverse kinematics of variable geometry truss manipulator with three modules.

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Inverse kinematics of asymmetric octahedral variable geometry truss manipulator with obstacle avoidance through inexact interior point optimization

Zhao

Yang

2018

International Journal of Advanced Robotic Systems

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“…On the other hand, most recent researches were focused on classes of HRPR robots such as Iwatsuki et al 11 who proposed a motion control technique for rigid-link hyper-redundant manipulator without considering continuous approach. The work of Mintenbeck and Estanna 12 was focused on a miniaturized hyper-redundant parallel mechanism. Rongjie et al 13,14 applied spline-based solution method to generate the backbone curve of a pneumatic manipulator inspired by continuum structures.…”

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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“…Kinematic constraints are obtained after workspace identification of the CBHA. The model validation is realized on a CBHA robot representing a manipulation part of a mobilemanipulator robot called RobotinoXT [11], under constant curvature assumption [12], [13].…”

Section: Introductionmentioning

confidence: 99%

Inverse Kinematic modeling of a class of continuum bionic handling arm

Lakhal¹,

Melingui²,

Chibani³

et al. 2014

2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics

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This paper presents a development of Inverse Kinematic Model (IKM) of a class of Continuum Bionic Handling Arm (CBHA). The modeling approach is inspired from a model of a hyper-redundant backbone-based manipulator, combined with an optimal placement of the backbones. The latter is obtained using an optimization algorithm, based on a Sequential Quadratic Program (SQP). The main interest of developing such model is to design an autonomous control of the CBHA. The high number of Degrees of Freedom (DoF) present on the continuum structure of the CBHA, makes difficult the synthesis of the analytical IKM for the overall arm. To resolve this issue, it is proposed to assimilate the CBHA's behavior to that of a hyper-redundant robot manipulator. This robot is represented by a concatenation of hybrid (parallel and serial) vertebrae along the vertebral column or backbones of the CBHA. The combination of all these vertebra allows the reconstruction with optimal configuration of the real posture of the continuum arm inside its workspace, with only the knowledge of the Cartesian coordinates of the robot pose. Simulations and experimental validation of the model demonstrate the efficiency of the modeling approach for this class of CBHA.

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Design, modelling and control of a hyper-redundant 3-RPS parallel mechanism

Cited by 13 publications

References 9 publications

Inverse kinematics of asymmetric octahedral variable geometry truss manipulator with obstacle avoidance through inexact interior point optimization

Inverse kinematics of asymmetric octahedral variable geometry truss manipulator with obstacle avoidance through inexact interior point optimization

Generating optimal reference kinematic configurations for hyper-redundant parallel robots

Inverse Kinematic modeling of a class of continuum bionic handling arm

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