Collision free control of variable length hyper redundant robot manipulator
Hyper-redundant robot (HRR) manipulators are useful at navigating convoluted paths, but conventionally complicated to control. The control of a hyper-redundant manipulator is complex due to its redundancy. In this paper, a simple but effective control algorithm for obstacle avoidance is propos...
| Main Authors: | , , , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Trans Tech Publications Ltd., Switzerland
2014
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| Subjects: | |
| Online Access: | http://irep.iium.edu.my/36220/1/Annisa_Applied_Mechanics.pdf |
| _version_ | 1796878710223142912 |
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| author | Jamali, Annisa Khan, Md. Raisuddin Osman, M. Shahril Rahman, Md. Mozasser Ashari, Muhd Fadzli Jamaludin, Mohd Syahmi Junaidi, Ervina |
| author_facet | Jamali, Annisa Khan, Md. Raisuddin Osman, M. Shahril Rahman, Md. Mozasser Ashari, Muhd Fadzli Jamaludin, Mohd Syahmi Junaidi, Ervina |
| author_sort | Jamali, Annisa |
| collection | IIUM |
| description | Hyper-redundant robot (HRR) manipulators are useful at navigating convoluted paths, but
conventionally complicated to control. The control of a hyper-redundant manipulator is complex due
to its redundancy. In this paper, a simple but effective control algorithm for obstacle avoidance is
proposed. The algorithm derives a collision free path around known obstacles so that the end-effector
of a variable length hyper redundant robot (VHRR) is able to reach the target location following the
path without hitting the obstacles. The algorithm can be grouped into two tasks to drive the
end-effector along the collision free trajectories: first, solve the inverse kinematics without
disregarding the existence of obstacles in the system; and second, fit the manipulator to the respective
prescribe trajectories. This method has the capability to allow VHRR maneuver within its workspace
without penetrating to the neighboring obstruction. Further, this method is very effective in the sense
that it forms a nice coil profile avoiding zig-zag configuration, and thus eliminates sharp turn on the
robot. The performance of a VHRR was tested through simulation to demonstrate the effectiveness of
the proposed method. The approach succeeded in delivering the path that avoids obstacle. |
| first_indexed | 2024-03-05T23:25:23Z |
| format | Article |
| id | oai:generic.eprints.org:36220 |
| institution | International Islamic University Malaysia |
| language | English |
| last_indexed | 2024-03-05T23:25:23Z |
| publishDate | 2014 |
| publisher | Trans Tech Publications Ltd., Switzerland |
| record_format | dspace |
| spelling | oai:generic.eprints.org:362202018-06-20T01:46:22Z http://irep.iium.edu.my/36220/ Collision free control of variable length hyper redundant robot manipulator Jamali, Annisa Khan, Md. Raisuddin Osman, M. Shahril Rahman, Md. Mozasser Ashari, Muhd Fadzli Jamaludin, Mohd Syahmi Junaidi, Ervina TJ210.2 Mechanical devices and figures. Automata. Ingenious mechanism. Robots (General) Hyper-redundant robot (HRR) manipulators are useful at navigating convoluted paths, but conventionally complicated to control. The control of a hyper-redundant manipulator is complex due to its redundancy. In this paper, a simple but effective control algorithm for obstacle avoidance is proposed. The algorithm derives a collision free path around known obstacles so that the end-effector of a variable length hyper redundant robot (VHRR) is able to reach the target location following the path without hitting the obstacles. The algorithm can be grouped into two tasks to drive the end-effector along the collision free trajectories: first, solve the inverse kinematics without disregarding the existence of obstacles in the system; and second, fit the manipulator to the respective prescribe trajectories. This method has the capability to allow VHRR maneuver within its workspace without penetrating to the neighboring obstruction. Further, this method is very effective in the sense that it forms a nice coil profile avoiding zig-zag configuration, and thus eliminates sharp turn on the robot. The performance of a VHRR was tested through simulation to demonstrate the effectiveness of the proposed method. The approach succeeded in delivering the path that avoids obstacle. Trans Tech Publications Ltd., Switzerland 2014-03-12 Article PeerReviewed application/pdf en http://irep.iium.edu.my/36220/1/Annisa_Applied_Mechanics.pdf Jamali, Annisa and Khan, Md. Raisuddin and Osman, M. Shahril and Rahman, Md. Mozasser and Ashari, Muhd Fadzli and Jamaludin, Mohd Syahmi and Junaidi, Ervina (2014) Collision free control of variable length hyper redundant robot manipulator. Applied Mechanics and Materials, 541/42. pp. 1107-1114. ISSN 1660-9336 http://www.scientific.net/AMM.541-542.1107 10.4028/www.scientific.net/AMM.541-542.1107 |
| spellingShingle | TJ210.2 Mechanical devices and figures. Automata. Ingenious mechanism. Robots (General) Jamali, Annisa Khan, Md. Raisuddin Osman, M. Shahril Rahman, Md. Mozasser Ashari, Muhd Fadzli Jamaludin, Mohd Syahmi Junaidi, Ervina Collision free control of variable length hyper redundant robot manipulator |
| title | Collision free control of variable length hyper redundant robot manipulator |
| title_full | Collision free control of variable length hyper redundant robot manipulator |
| title_fullStr | Collision free control of variable length hyper redundant robot manipulator |
| title_full_unstemmed | Collision free control of variable length hyper redundant robot manipulator |
| title_short | Collision free control of variable length hyper redundant robot manipulator |
| title_sort | collision free control of variable length hyper redundant robot manipulator |
| topic | TJ210.2 Mechanical devices and figures. Automata. Ingenious mechanism. Robots (General) |
| url | http://irep.iium.edu.my/36220/1/Annisa_Applied_Mechanics.pdf |
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