Title of article
Implementation and Kinematic Control of a Hyper-redundant Mobile Manipulator System
Author/Authors
JIA، نويسنده , , Qing-xuan and ZHAN، نويسنده , , Qiang and SUN، نويسنده , , Han-xu and HONG، نويسنده , , Lei، نويسنده ,
Issue Information
روزنامه با شماره پیاپی سال 2006
Pages
6
From page
83
To page
88
Abstract
Redundant or hyper-redundant mobile manipulator can give lots of assistance to astronauts in space station. The design and implementation of a hyper redundant mobile manipulator system are described, which is composed of an 8 DOF module robot and a 1 DOF motorized rail. Inverse kinematic resolution of the system is discussed and one simplified control method based on joint limit avoidance and configuration optimization is proposed. Simulation and experimental results are presented.
Keywords
Mobile manipulator , hyperredundant manipulator , Inverse kinematics
Journal title
Chinese Journal of Aeronautics
Serial Year
2006
Journal title
Chinese Journal of Aeronautics
Record number
2264569
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