Dynamically Efficient Kinematics for Hyper-Redundant Manipulators
Abstract
A hyper-redundant robotic arm is a manipulator with many degrees of freedom, capable of executing tasks in cluttered environments where robotic arms with fewer degrees of freedom are unable to operate. This paper introduces a new method for modeling those manipulators in a completely dynamic way. The proposed method enables online changes of the kinematic structure with the use of a special function; termed "meta-controlling function". This function can be used to develop policies to reduce drastically the computational cost for a single task, and to robustly control the robotic arm, even in the event of partial damage. The direct and inverse kinematics are solved for a generic three-dimensional articulated hyper-redundant arm, that can be used as a proof of concept for more specific structures. To demonstrate the robustness of our method, experimental simulation results, for a basic "meta-controlling" function, are presented.
Keywords
Cite
@article{arxiv.1803.03725,
title = {Dynamically Efficient Kinematics for Hyper-Redundant Manipulators},
author = {Marios P. Xanthidis and Kostantinos J. Kyriakopoulos and Ioannis Rekleitis},
journal= {arXiv preprint arXiv:1803.03725},
year = {2018}
}
Comments
Published in the 24th Mediterranean Conference on Control and Automation (MED-2016)