Advertisement

Kinematics of Hyper-Redundant Manipulators

  • Gregory S. Chirikjian
  • Joel W. Burdick
Conference paper

Abstract

A “hyper-redundant” manipulator is a redundant manipulator with a large or infinite relative degree of redundancy. This paper presents a novel approach to the forward and inverse kinematics of these manipulators which is based on the differential geometry of curves. In this method, a ‘backbone curve’ is defined to capture the essential geometric features of the hyper-redundant manipulator. The backbone curve’s intrinsic geometric functions are restricted to a modal form in order to resolve the hyper-redundancy. The approach is directly applicable to manipulators with continuous morphology, and can be extended to manipulators with a finite number of discrete links.

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

References

  1. [1]
    Chirikjian, G.S., Burdick, J.W., “Kinematics of Hyper-Redundant Manipulators,” to appear in the Proceedings of the ASME Mechanisms Conference, Chicago, Il, Sept. 16–19, 1990.Google Scholar
  2. [2]
    Chirikjian, G.S., Burdick, J.W., “A Geometric Approach to Hyper-Redundant Manipulator Obstacle Avoidance,” to appear in the Proceedings of the ASME Mechanisms Conference, Chicago, Il, Sept. 16–19, 1990.Google Scholar
  3. Chirikjian, G.S., Burdick, J.W., “An Obstacle Avoidance Algorithm for Hyper-Redundant Manipulators,” Proceedings of the 1990 IEEE Conference on Robotics and Automation Cincinnatti, Oh, May. 14–17, 1990.Google Scholar
  4. [4]
    Ivanescu, M., Badea, I.,“Dynamic Control for a Tentacle Manipulator,” Int. Conf. on Robotics and Factories of the Future, pp. 317–328, Dec 4–7, 1984, Charlotte, Nc, USA.Google Scholar
  5. [5]
    Morecki, A., et al, “Robotic System–Elephant Trunk Type Elastic Manipulator combined with a Quadruped Walking Machine,” Proc. of Second Int. Conf. on Robotics and Factories of the Future, San Diego, July 1987, pp. 649–656.Google Scholar
  6. [6]
    Shahinpoor, M., Kalhor, H., Jamshidi, M., “On Magnetically Activated Robotic Tensor Arms,” Proceedings of the International Symposium on Robot Manipulators: Modeling, Control, and Education, Nov.12–14, 1986, Albuquerque, New Mexico.Google Scholar
  7. [7]
    Wilson, J.F., Mahajan, U., “The Mechanics and Positioning of Highly Flexible Manipulator Limbs,” Journal of Mechanisms, Transmissions, and Automation in Design. Vol, 111, June 1989.Google Scholar

Copyright information

© Springer-Verlag Wien 1991

Authors and Affiliations

  • Gregory S. Chirikjian
    • 1
  • Joel W. Burdick
    • 1
  1. 1.School of Engineering and Applied ScienceCalifornia Institute of TechnologyPasadenaUSA

Personalised recommendations