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1 – 1 of 1Cheng Wang, Haibo Xie and Huayong Yang
This paper aims to present an iterative path-following method with joint limits to solve the problem of large computation cost, movement exceeding joint limits and poor…
Abstract
Purpose
This paper aims to present an iterative path-following method with joint limits to solve the problem of large computation cost, movement exceeding joint limits and poor path-following accuracy for the path planning of hyper-redundant snake-like manipulator.
Design/methodology/approach
When a desired path is given, new configuration of the snake-like manipulator is obtained through a geometrical approach, then the joints are repositioned through iterations until all the rotation angles satisfy the imposed joint limits. Finally, a new arrangement is obtained through the analytic solution of the inverse kinematics of hyper-redundant manipulator. Finally, simulations and experiments are carried out to analyze the performance of the proposed path-following method.
Findings
Simulation results show that the average computation time is 0.1 ms per step for a hyper-redundant manipulator with 12 degrees of freedom, and the deviation in tip position can be kept below 0.02 mm. Experiments show that all the rotation angles are within joint limits.
Research limitations/implications
Currently , the manipulator is working in open-loop, the elasticity of the driving cable will cause positioning error. In future, close-loop control based on real-time attitude detection will be used in in combination with the path-following method to achieve high-precision trajectory tracking.
Originality/value
Through a series of iterative processes, the proposed method can make the manipulator approach the desired path as much as possible within the joint constraints with high precision and less computation time.
Details