Paper Info
Title
Dynamic control of curve-constrained hyper-redundant manipulators
Abstract
Hyper-redundant manipulators have large number of kinematic degrees of freedom, thus possessing some unconventional features such as the ability to enter a narrow space while avoiding obstacles. To control these hyper-redundant manipulators accurately, the manipulator dynamics must be included into consideration. This is however time-expensive and makes implementation of the real-time control difficult. In this paper, we propose a dynamic control scheme for hyper-redundant manipulators, which is based on analysis in the defined posture space where three parameters were used to determine the manipulator posture. The manipulator dynamics is modeled in the parameterized form with the parameter of the posture space path and the posture space path-tracking feedforward controller is formulated on the basis of the parameterized dynamic equation. Computer simulation was executed to show the validity of the proposed technique, where a hyper-redundant manipulator traces the posture space path well by the proposed feedforward controller. As a result, it is proven that the hyper-redundant manipulator can track the workspace path accurately.
Year
DOI
Venue
2001
10.1109/CIRA.2001.1013177
CIRA
Keywords
Field
DocType
posture space path-tracking feedforward controller,feedforward,posture space,redundant manipulators,real-time control,tracking,dynamic control,parameterized dynamic equation,flexible manipulators,time efficiency,curve-constrained hyper-redundant manipulators,real time systems,kinematics,control systems,computer simulation,degree of freedom,real time control
Dynamic equation,Control theory,Parameterized complexity,Kinematics,Computer science,Workspace,Control theory,Real-time Control System,Control system,Feed forward
Conference
Volume
Issue
ISBN
16
1
0-7803-7203-4
Citations 
PageRank 
References 
2
0.61
10
Authors
3
Name
Order
Citations
PageRank
Shugen Ma1691114.88
Mitsuru Watanabe2112.66
Hisashi Kondo3273.48