Motion planning of hyper redundant manipulators based on a new geometrical method

Yahya, S. and Mohamed, H.A.F. and Moghavvemi, M. and Yang, S.S. (2009) Motion planning of hyper redundant manipulators based on a new geometrical method. In: 2009 IEEE International Conference on Industrial Technology, ICIT 2009, 10-13 February 2009, Churchill, VIC, Australia.

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Motion planning capability is an essential part of an industrial robot system. Therefore research in robot motion planning remains as one of the important fields of study in the task of building industrial robot systems. A new method for the motion planning is presented in this paper. The basic idea is to find a smooth path consisting of points close enough to each other. Then the computation of the inverse kinematics for these points is accomplished with the help of a new proposed geometrical method to solve the problem of multi-solution caused by redundancy. The advantage of this method is that the angles between the adjacent links are the same, it makes controlling these links easier and the movement of the manipulator itself more stable. This method can be used for the equal length links planar manipulators. To demonstrate the effectiveness of this proposed method, experiments were conducted on a 10-links hyper redundant manipulator in this paper.

Item Type: Conference or Workshop Item (Paper)
Additional Information: Article number 4939569 ISBN: 1424435064;978-142443506-7 DOI: 10.1109/ICIT.2009.4939569
Uncontrolled Keywords: Basic idea; Geometrical methods; Hyper-redundant manipulator; Planar manipulator; Planning capability; Robot motion planning; Industrial robots; Inverse kinematics; Navigation; Redundant manipulators; Motion planning
Subjects: T Technology > TA Engineering (General). Civil engineering (General)
Divisions: Faculty of Engineering
Depositing User: Ms. Norhamizah Tamizi
Date Deposited: 27 Mar 2014 04:29
Last Modified: 23 Nov 2017 02:18

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