Simultaneous Planning Method Considering Both Overall Configuration and End Pose for Hyper-Redundant Manipulators

Zhang, Mu; Yuan, Han; Xu, Wenfu; Hu, Zhonghua; Liu, Tianliang; Liang, Bin

doi:10.1109/access.2019.2942610

Cited by 14 publications

(2 citation statements)

References 21 publications

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“…Current mainstream methods for solving the obstacle avoidance problem for a redundant manipulator mainly consist of numerical methods based on the Jacobian matrix [7] that are mainly used for real-time obstacle avoidance. The traditional trajectory obstacle avoidance algorithm uses the gradient projection method (GPM) [8][9][10] to divide the motion of a redundant manipulator into the main task and the secondary task. The former reflects the movement of the end effector, and the latter can use the redundant characteristics of manipulator to avoid obstacles or perform other secondary tasks by setting a optimisation function.…”

Section: Related Workmentioning

confidence: 99%

Obstacle avoidance method for fixed trajectory of a seven-degree-of-freedom manipulator

Quan

Wang²,

Zhao³

et al. 2023

Robotica

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This paper, based on the idea of redundancy angle discretisation, proposes an obstacle avoidance method for the fixed tip pose trajectory of a seven degrees-of-freedom (7-DOF) modular manipulator. First, for the case in which a specific redundancy angle is given, the analytical solutions of the redundant manipulator left 6-DOF subchain are found. Then, through the discretisation of the redundancy angle, the concept of the self-motion space of the tip pose is proposed and is extended to the concept of the self-motion space of the trajectory. Based on this discrete space, a path-planning algorithm is proposed to help select the appropriate redundancy angles to obtain the collision-free solution set of the fixed Cartesian trajectory. However, due to the large fluctuation of the obtained path, a path optimisation method based on the path cost is proposed to smooth the path, and the continuous and collision-free solution set of the manipulator tip’s trajectory is obtained. The method proposed in this paper provides a new thought for the problem of collision-free solution set planning for the Cartesian trajectory of a 7-DOF manipulator and it has great application potential in working environments with high accuracy requirements for the trajectory.

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Section: Related Workmentioning

confidence: 99%

Obstacle avoidance method for fixed trajectory of a seven-degree-of-freedom manipulator

Quan

Wang²,

Zhao³

et al. 2023

Robotica

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show abstract

“…Recently, another type of charging robots is proposed based on cable-driven snake-like manipulators. These manipulators are usually redundantly actuated [10], or even hyper redundant [11,12]. Thus, this type of charging robots could achieve dexterous or even super-dexterous operations in the EV charging application.…”

Section: Introductionmentioning

confidence: 99%

Concept Design and Load Capacity Analysis of a Novel Serial-Parallel Robot for the Automatic Charging of Electric Vehicles

Yuan

Zhou

2020

Electronics

Self Cite

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The automatic charging of electric vehicles is an important but challenging problem. Recently, various charging robots are proposed for electric vehicles. Most previous researches do not pay enough attention to the robots’ load capacities. Actually, providing the charging connector with adequate pushing and/or pulling forces is vital to guarantee a reliable electrical connection, which is a key issue for charging robot design. In this paper, we present a novel serial-parallel robot for the automatic charging of electric vehicles. This robot is based on the 3 universal-prismatic-universal (3UPU) parallel mechanism and featured by high-load capacity. We firstly address the kinematic and static models of the proposed robot, then analyze its load capacity. It is shown that the robot’s maximum load capacity depends not only on the driving ability of the prismatic joints, but also on the robot’s structural parameters and the robot’s configuration. Finally, optimizations are made and results show that the robot’s load capacity along the desired trajectory has more than doubled. Results of this paper could be useful for the development of automatic electric-vehicle-charging devices.

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Modelling and control of manipulators for inspection and maintenance in challenging environments: A literature review

Pistone,

Ludovico,

De Mari Casareto Dal Verme

et al. 2024

Annual Reviews in Control

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Simultaneous Planning Method Considering Both Overall Configuration and End Pose for Hyper-Redundant Manipulators

Cited by 14 publications

References 21 publications

Obstacle avoidance method for fixed trajectory of a seven-degree-of-freedom manipulator

Obstacle avoidance method for fixed trajectory of a seven-degree-of-freedom manipulator

Concept Design and Load Capacity Analysis of a Novel Serial-Parallel Robot for the Automatic Charging of Electric Vehicles

Modelling and control of manipulators for inspection and maintenance in challenging environments: A literature review

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