Hak Yi and Reza Langari
Redundant manipulator, joint limit avoidance, biologically-inspired control, learning and adaptive systems
In constrained workspaces, a serial manipulator with fixed length links has restricted motion for performing the required tasks. To overcome this, we suggest a novel redundant manipulator with multiple 3-degree of freedoms links capable of elongating by a maximum 25% of their nominal lengths. The joint limit avoidance approach is used as the redundancy resolution scheme. A bio-inspired closed-loop inverse kinematic algorithm based on brain limbic system is proposed to remove tracking errors. The results of the proposed method show that the proposed manipulator has a relatively efficient reachable workspace in constrained environments, compared to a serpentine 6-DOFs robotic manipulator of the same length links.
Important Links:
Go Back
