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 proposed. Th...
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Trans Tech Publications Inc.
2014
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Online Access: | http://ir.unimas.my/id/eprint/23453/1/Collision%20free%20control%20of%20variable%20length%20hyper%20redundant%20robot%20manipulator%20%28abs%29.pdf http://ir.unimas.my/id/eprint/23453/ https://www.scientific.net/AMM.541-542.1107 |
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my.unimas.ir.234532023-06-15T07:49:36Z http://ir.unimas.my/id/eprint/23453/ Collision Free Control of Variable Length Hyper Redundant Robot Manipulator Annisa, Jamali M. Raisuddin, Khan M. Shahril, Osman M. Mozasser, Rahman Muhamad Fadzli, Ashari Mohd Syahmi, Jamaludin Ervina, Junaidi TJ Mechanical engineering and machinery 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 endeffector 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 Inc. 2014 Article PeerReviewed text en http://ir.unimas.my/id/eprint/23453/1/Collision%20free%20control%20of%20variable%20length%20hyper%20redundant%20robot%20manipulator%20%28abs%29.pdf Annisa, Jamali and M. Raisuddin, Khan and M. Shahril, Osman and M. Mozasser, Rahman and Muhamad Fadzli, Ashari and Mohd Syahmi, Jamaludin and Ervina, Junaidi (2014) Collision Free Control of Variable Length Hyper Redundant Robot Manipulator. Applied Mechanics and Materials, 541-54. pp. 1107-1114. ISSN 1662-7482 https://www.scientific.net/AMM.541-542.1107 DOI:org/10.4028/www.scientific.net/AMM.541-542.1107 |
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TJ Mechanical engineering and machinery Annisa, Jamali M. Raisuddin, Khan M. Shahril, Osman M. Mozasser, Rahman Muhamad Fadzli, Ashari Mohd Syahmi, Jamaludin Ervina, Junaidi Collision Free Control of Variable Length Hyper Redundant Robot Manipulator |
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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 endeffector 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. |
format |
Article |
author |
Annisa, Jamali M. Raisuddin, Khan M. Shahril, Osman M. Mozasser, Rahman Muhamad Fadzli, Ashari Mohd Syahmi, Jamaludin Ervina, Junaidi |
author_facet |
Annisa, Jamali M. Raisuddin, Khan M. Shahril, Osman M. Mozasser, Rahman Muhamad Fadzli, Ashari Mohd Syahmi, Jamaludin Ervina, Junaidi |
author_sort |
Annisa, Jamali |
title |
Collision Free Control of Variable Length Hyper Redundant Robot Manipulator |
title_short |
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_sort |
collision free control of variable length hyper redundant robot manipulator |
publisher |
Trans Tech Publications Inc. |
publishDate |
2014 |
url |
http://ir.unimas.my/id/eprint/23453/1/Collision%20free%20control%20of%20variable%20length%20hyper%20redundant%20robot%20manipulator%20%28abs%29.pdf http://ir.unimas.my/id/eprint/23453/ https://www.scientific.net/AMM.541-542.1107 |
_version_ |
1769847635757236224 |
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13.160551 |