Redundancy Optimization of Hyper Redundant Robots Based on Movability and Assistability
This paper describes a new method to utilize redundancy of hyper redundant robots. In order to establish the effectively use of enormous amount of redundancy, both of the all actuators' contribution for the achievement of the target motions and capability for unpredictable target motions in...
| Main Authors: | , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
The Japan Society of Mechanical Engineers
2008-11-01
|
| Series: | Journal of Advanced Mechanical Design, Systems, and Manufacturing |
| Subjects: | |
| Online Access: | https://www.jstage.jst.go.jp/article/jamdsm/2/6/2_6_1021/_pdf/-char/en |
| _version_ | 1818532621861257216 |
|---|---|
| author | Daisuke MATSUURA Nobuyuki IWATSUKI Masafumi OKADA |
| author_facet | Daisuke MATSUURA Nobuyuki IWATSUKI Masafumi OKADA |
| author_sort | Daisuke MATSUURA |
| collection | DOAJ |
| description | This paper describes a new method to utilize redundancy of hyper redundant robots. In order to establish the effectively use of enormous amount of redundancy, both of the all actuators' contribution for the achievement of the target motions and capability for unpredictable target motions in future should be maximized simultaneously. From this point of view, two redundancy utilization strategies are proposed based on the different evaluation indices, the movability index of each joint and the assistability index for target motions. These indices are formulated based on the evaluation of angular distribution of the column vectors of Jacobian matrices on velocity of each joint, including the end-effector. Then joint input are derived based on the improved gradient projection method to optimize the indices simultaneously. Motion control simulations and experiments with a planar 10R serial manipulator demonstrated the effectiveness of the proposed method. |
| first_indexed | 2024-12-11T17:47:56Z |
| format | Article |
| id | doaj.art-0deb30947a524a2bb3eb6036e0a2b15e |
| institution | Directory Open Access Journal |
| issn | 1881-3054 |
| language | English |
| last_indexed | 2024-12-11T17:47:56Z |
| publishDate | 2008-11-01 |
| publisher | The Japan Society of Mechanical Engineers |
| record_format | Article |
| series | Journal of Advanced Mechanical Design, Systems, and Manufacturing |
| spelling | doaj.art-0deb30947a524a2bb3eb6036e0a2b15e2022-12-22T00:56:19ZengThe Japan Society of Mechanical EngineersJournal of Advanced Mechanical Design, Systems, and Manufacturing1881-30542008-11-01261021102910.1299/jamdsm.2.1021jamdsmRedundancy Optimization of Hyper Redundant Robots Based on Movability and AssistabilityDaisuke MATSUURA0Nobuyuki IWATSUKI1Masafumi OKADA2Dept. of Mechanical Sciences and Engineering, Tokyo Institute of TechnologyDept. of Mechanical Sciences and Engineering, Tokyo Institute of TechnologyDept. of Mechanical Sciences and Engineering, Tokyo Institute of TechnologyThis paper describes a new method to utilize redundancy of hyper redundant robots. In order to establish the effectively use of enormous amount of redundancy, both of the all actuators' contribution for the achievement of the target motions and capability for unpredictable target motions in future should be maximized simultaneously. From this point of view, two redundancy utilization strategies are proposed based on the different evaluation indices, the movability index of each joint and the assistability index for target motions. These indices are formulated based on the evaluation of angular distribution of the column vectors of Jacobian matrices on velocity of each joint, including the end-effector. Then joint input are derived based on the improved gradient projection method to optimize the indices simultaneously. Motion control simulations and experiments with a planar 10R serial manipulator demonstrated the effectiveness of the proposed method.https://www.jstage.jst.go.jp/article/jamdsm/2/6/2_6_1021/_pdf/-char/enredundancy utilizationhyper redundant robotdexteritymovabilityassistability |
| spellingShingle | Daisuke MATSUURA Nobuyuki IWATSUKI Masafumi OKADA Redundancy Optimization of Hyper Redundant Robots Based on Movability and Assistability Journal of Advanced Mechanical Design, Systems, and Manufacturing redundancy utilization hyper redundant robot dexterity movability assistability |
| title | Redundancy Optimization of Hyper Redundant Robots Based on Movability and Assistability |
| title_full | Redundancy Optimization of Hyper Redundant Robots Based on Movability and Assistability |
| title_fullStr | Redundancy Optimization of Hyper Redundant Robots Based on Movability and Assistability |
| title_full_unstemmed | Redundancy Optimization of Hyper Redundant Robots Based on Movability and Assistability |
| title_short | Redundancy Optimization of Hyper Redundant Robots Based on Movability and Assistability |
| title_sort | redundancy optimization of hyper redundant robots based on movability and assistability |
| topic | redundancy utilization hyper redundant robot dexterity movability assistability |
| url | https://www.jstage.jst.go.jp/article/jamdsm/2/6/2_6_1021/_pdf/-char/en |
| work_keys_str_mv | AT daisukematsuura redundancyoptimizationofhyperredundantrobotsbasedonmovabilityandassistability AT nobuyukiiwatsuki redundancyoptimizationofhyperredundantrobotsbasedonmovabilityandassistability AT masafumiokada redundancyoptimizationofhyperredundantrobotsbasedonmovabilityandassistability |