A modal approach to hyper-redundant manipulator kinematics
- Johns Hopkins Univ., Baltimore, MD (United States). Dept. of Mechanical Engineering
- California Inst. of Tech., Pasadena, CA (United States). School of Engineering and Applied Science
This paper presents novel and efficient kinematic modeling techniques for hyper-redundant'' robots. This approach is based on a backbone curve'' that captures the robot's macroscopic geometric features. The inverse kinematic, or hyper-redundancy resolution,'' problem reduces to determining the time varying backbone curve behavior. To efficiently solve the inverse kinematics problem, the authors introduce a modal'' approach, in which a set of intrinsic backbone curve shape functions are restricted to a modal form. The singularities of the modal approach, modal non-degeneracy conditions, and modal switching are considered. For discretely segmented morphologies, the authors introduce fitting'' algorithms that determine the actuator displacements that cause the discrete manipulator to adhere to the backbone curve. These techniques are demonstrated with planar and spatial mechanism examples. They have also been implemented on a 30 degree-of-freedom robot prototype.
- OSTI ID:
- 7003645
- Journal Information:
- IEEE Transactions on Robotics and Automation (Institute of Electrical and Electronics Engineers); (United States), Vol. 10:3; ISSN 1042-296X
- Country of Publication:
- United States
- Language:
- English
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