Efficient Representation of Ducts and Cluttered Spaces for Realistic Motion Planning of Hyper-Redundant Robots through Confined Paths

Ashwin, K. P.; Chaudhury, Arkadeep Narayan; Ghosal, Ashitava

doi:10.1016/j.cad.2019.102777

Cited by 4 publications

(2 citation statements)

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“…The fifth and sixth groups of works for obstacle avoidance planning of manipulators are tractrix-based method [37,38] and backbone-curve-based method [39,40,41,42,43] (or shape control method called in this paper), respectively.The key idea of the tractrix-based method is that given the motion of a single link, the motion of all links of the manipulators can be obtained via an iteration process and a kinematics transformation from the first link to the end link. The motion of a single link is obtained via a tractrix curve.…”

Section: Introductionmentioning

confidence: 99%

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An obstacle avoidance algorithm for space hyper-redundant manipulators using combination of RRT and shape control method

Zhang

Liu

2021

Robotica

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This paper proposes a kinematic obstacle avoidance algorithm for Space hyper-redundant manipulators, and its basic idea is to use a static and a dynamic curve to constrain the macroshape of the manipulators simultaneously. The static curve is constructed based on a traditional rapidly exploring random tree algorithm, and a backbone curve is utilized as the dynamic curve. For these two curves, two novel shape control methods are proposed to accomplish the shape constraining process. Finally, we verify the reliability and effectiveness of our algorithm through simulations.

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Section: Introductionmentioning

confidence: 99%

“…Therefore, the work in ref. [38] proposes three representations of ducts. The basic idea of the backbone-curve-based method (or shape control method called in this paper) is employing a backbone curve to constrain the macro shape of a manipulator by fitting the curve and the manipulator's shape as closely as possible [47].…”

Section: Introductionmentioning

confidence: 99%