Dynamically efficient kinematics for hyper-redundant manipulators

Xanthidis, Marios; Kyriakopoulos, Kostas J.; Rekleitis, Ioannis

doi:10.1109/med.2016.7535928

Cited by 6 publications

(6 citation statements)

References 39 publications

(48 reference statements)

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The process of quantitatively describing the position and orientation of the manipulator. is known as the description of the pose of the object [18,19].…”

Section: Kinematics Calculation Of Manipulatormentioning

confidence: 99%

Design and Simulation of a Light Manipulator Using Adams Virtual Prototype

2021

IJOMAM

View full text Add to dashboard Cite

In order to study the structure of light manipulator and find the method to improve the structure design of the manipulator, the three-dimensional complex simulation model of the light manipulator is established with the help of the most commonly used mechanical system analysis software, and the movement process and the actual specific working conditions of the manipulator are simulated. In addition, the simulation results are compared with the actual working conditions to study the light manipulator and improve its structure. The method used is based on ADAMS (automatic dynamic analysis of mechanical systems). Through simulation, the virtual prototype is constructed, the model describing the structure of the light manipulator is established, and the actual motion condition of the manipulator is analysed. The findings show that: the threedimensional model of the light manipulator is built in ADAMS, and the hinge point and the length of the rod are parameterized. The end output power of the light manipulator is taken as the optimization objective to design the structure. The maximum power of the redesigned light manipulator is higher than that of the conventional manipulator, and the effect of the new design structure is obviously superior to the design in the conventional methods. Therefore, if this creation is applied to the actual production and life, it will be able to reduce the energy consumption to the greatest extent and improve the production efficiency. Thus, the structure of the light manipulator in accordance with ADAMS virtual prototype technology not only has a dramatic practical significance, but also has reference for the subsequent research on the improvement of the structure of the manipulator for various purposes.

show abstract

“…The process of quantitatively describing the position and orientation of the manipulator. is known as the description of the pose of the object [18,19].…”

Section: Kinematics Calculation Of Manipulatormentioning

confidence: 99%

Design and Simulation of a Light Manipulator Using Adams Virtual Prototype

2021

IJOMAM

View full text Add to dashboard Cite

show abstract

“…Furthermore, the solution of the inverse kinematics problem may not exist or may have multiple possibilities [3]. It becomes a must to consider the inverse kinematics when coming to deal with certain type of tasks in cluttered environments where robotic manipulators with few DOF are unable to operate [6].…”

Section: Introductionmentioning

confidence: 99%

“…Many research efforts have been conducted to deal with the solution of the inverse kinematics problem. Conventionally, the inverse kinematics problem is formulated by the so called differential kinematics [6]. In such type of formulation, the Jacobian matrix is used to describe the relation between the motion of every robot link and that of the end effector.…”

Section: Introductionmentioning

confidence: 99%

An Adaptive Second Order Sliding Mode Inverse Kinematics Approach for Serial Kinematic Chain Robot Manipulators

2020

View full text Add to dashboard Cite

The problem of inverse kinematics is essential to consider while dealing with the robot’s mechanical structure in almost all applications. Since the solution of the inverse kinematics problem is very complex, many research efforts have been working towards getting the approximate solution of this problem. However, for some applications, working with the approximate robot’s model is neither sufficient nor efficient. In this paper, an adaptive inverse kinematics methodology is developed to solve the inverse kinematics problem in such a way that compensate for unknown uncertainty in the Jacobian matrix of the serial kinematic chain robot manipulators. The proposed methodology is based on continuous second order sliding mode strategy (CSOSM-AIK). The salient advantage of the CSOSM-AIK approach is that it does not require the availability of the kinematics model or Jacobian matrix of the robot manipulators from joint space variables to Cartesian space variables. The global stability of the closed-loop system with CSOSM-AIK methodology is proven using the Lyapunov theorem. In order to demonstrate the robustness and effectiveness of the proposed methodology, some simulations are conducted.

show abstract

“…• For many systems, it is rare for all of the kinematic abilities to be needed for a specific task [6].…”

Section: Introductionmentioning

confidence: 99%

Analysis of Motion Planning by Sampling in Subspaces of Progressively Increasing Dimension

Xanthidis¹,

Esposito²,

Rekleitis³

et al. 2018

Preprint

Self Cite

View full text Add to dashboard Cite

Despite the performance advantages of modern sampling-based motion planners, solving high dimensional planning problems in near real-time remains a challenge. Applications include hyper-redundant manipulators, snake-like and humanoid robots. Based on the intuition that many of these problem instances do not require the robots to exercise every degree of freedom independently, we introduce an enhancement to popular sampling-based planning algorithms aimed at circumventing the exponential dependence on dimensionality. We propose beginning the search in a lower dimensional subspace of the configuration space in the hopes that a simple solution will be found quickly. After a certain number of samples are generated, if no solution is found, we increase the dimension of the search subspace by one and continue sampling in the higher dimensional subspace. In the worst case, the search subspace expands to include the full configuration space -making the completeness properties identical to the underlying sampling-based planer. Our experiments comparing the enhanced and traditional version of RRT, RRT-Connect, and BidirectionalT-RRT on both a planar hyper-redundant manipulator and the Baxter humanoid robot indicate that a solution is typically found much faster using this approach and the run time appears to be less sensitive to the dimension of the full configuration space. We explore important implementation issues in the sampling process and discuss its limitations.

show abstract

Dynamically efficient kinematics for hyper-redundant manipulators

Cited by 6 publications

References 39 publications

Design and Simulation of a Light Manipulator Using Adams Virtual Prototype

Design and Simulation of a Light Manipulator Using Adams Virtual Prototype

An Adaptive Second Order Sliding Mode Inverse Kinematics Approach for Serial Kinematic Chain Robot Manipulators

Analysis of Motion Planning by Sampling in Subspaces of Progressively Increasing Dimension

Contact Info

Product

Resources

About