Title :
Shape control of hyper-redundant modularized manipulator using variable structure regular polygon
Author :
Liu, Jinguo ; Wang, Yuechao ; Ma, Shugen ; Li, Bin
Author_Institution :
Robotics Lab. of Chinese Acad. of Sci., Shenyang Inst. of Autom., China
fDate :
28 Sept.-2 Oct. 2004
Abstract :
Hyper-redundant manipulator has more degrees of freedom than the least necessary to perform a given task, thus it has the features of overcoming conventional industrial robot´s limitation such as improving its kinematics and dynamic performances. Crucial as it is, effective control of hyper-redundant manipulator is difficult for its redundancy. A novel shape control technique based on the concept of variable structure regular polygon and subsystem has been proposed. This technique, using variable structure regular polygon and neural networks models, is completely capable of solving the control problem of a planar hyper-redundant manipulator with any number of links following any desired path. With regular polygon side number´s variety and its shape´s transformation, the manipulator´s configuration changes accordingly and moves actively to perform the task form point to point or following a path. Compared with other methods to our knowledge, this technique has such superiorities as fewer control parameters, higher precision and less computation. Simulation of a six-link modularized manipulator´s inspection work in a bottle-like concave has demonstrated that this control technique is available and effective.
Keywords :
flexible manipulators; industrial robots; manipulator dynamics; neural nets; redundant manipulators; shape control; variable structure systems; conventional industrial robot; hyper-redundant modularized manipulator; neural networks model; shape control technique; six-link modularized manipulator; variable structure regular polygon; Electrical equipment industry; Jacobian matrices; Kinematics; Manipulator dynamics; Modeling; Neural networks; Robotics and automation; Service robots; Shape control; Systems engineering and theory;
Conference_Titel :
Intelligent Robots and Systems, 2004. (IROS 2004). Proceedings. 2004 IEEE/RSJ International Conference on
Print_ISBN :
0-7803-8463-6
DOI :
10.1109/IROS.2004.1390027