TY - GEN
T1 - Dynamically efficient kinematics for hyper-redundant manipulators
AU - Xanthidis, Marios
AU - Kyriakopoulos, Kostantinos J.
AU - Rekleitis, Ioannis
N1 - Publisher Copyright:
© 2016 IEEE.
PY - 2016/8/5
Y1 - 2016/8/5
N2 - 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 hyperredundant 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.
AB - 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 hyperredundant 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.
UR - http://www.scopus.com/inward/record.url?scp=84986239429&partnerID=8YFLogxK
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U2 - 10.1109/MED.2016.7535928
DO - 10.1109/MED.2016.7535928
M3 - Conference contribution
AN - SCOPUS:84986239429
T3 - 24th Mediterranean Conference on Control and Automation, MED 2016
SP - 207
EP - 213
BT - 24th Mediterranean Conference on Control and Automation, MED 2016
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 24th Mediterranean Conference on Control and Automation, MED 2016
Y2 - 21 June 2016 through 24 June 2016
ER -