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A new motion planning method for discretely actuated hyper-redundant manipulators
, Article Robotica ; February , 2015 ; 02635747 (ISSN) ; Zohoor, H ; Habibnejad Korayem, M ; Sharif University of Technology
Cambridge University Press
2015
Abstract
A hyper-redundant manipulator is made by mounting the serial and/or parallel mechanisms on top of each other as modules. In discrete actuation, the actuation amounts are a limited number of certain values. It is not feasible to solve the kinematic analysis problems of discretely actuated hyper-redundant manipulators (DAHMs) by using the common methods, which are used for continuous actuated manipulators. In this paper, a new method is proposed to solve the trajectory tracking problem in a static prescribed obstacle field. To date, this problem has not been considered in the literature. The removing first collision (RFC) method, which is originally proposed for solving the inverse kinematic...
A new motion planning method for discretely actuated hyper-redundant manipulators
, Article Robotica ; Volume 35, Issue 1 , 2017 , Pages 101-118 ; 02635747 (ISSN) ; Zohoor, H ; Habibnejad Korayem, M ; Sharif University of Technology
Cambridge University Press
2017
Abstract
A hyper-redundant manipulator is made by mounting the serial and/or parallel mechanisms on top of each other as modules. In discrete actuation, the actuation amounts are a limited number of certain values. It is not feasible to solve the kinematic analysis problems of discretely actuated hyper-redundant manipulators (DAHMs) by using the common methods, which are used for continuous actuated manipulators. In this paper, a new method is proposed to solve the trajectory tracking problem in a static prescribed obstacle field. To date, this problem has not been considered in the literature. The removing first collision (RFC) method, which is originally proposed for solving the inverse kinematic...