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Worksapce generation of hyperredundant manipulators as a diffusion process (2004)
| Content Provider | CiteSeerX |
|---|---|
| Author | Wang, Yunfeng Chirikjian, Gregory S. |
| Description | on SE(N),” IEEE Trans. Robot. Autom |
| Abstract | Abstract—Hyper-redundant manipulators have a large number of redundant degrees of freedom. They have been recognized as a means to improve manipulator performance in complex and unstructured environments. However, the high degree of redundancy also causes difficulty in the calculation of workspaces and inverse kinematics. This paper develops a diffusion-based algorithm for workspace generation of hyper-redundant manipulators. This algorithm makes the workspace generation problem as simple as solving a diffusion equation which has an explicit solution. This diffusion equation is a partial differential equation defined on the motion group (), and describes the evolution of the workspace density function, depending on manipulator length and kinematic properties. This paper also solves the inverse kinematics problem in an elegant way by dividing the manipulator into virtual segments and cascading the corresponding workspace densities generated by the diffusion equation. Index Terms—Diffusion process, Euclidean motion group, harmonic analysis, hyper-redundant manipulator, inverse kinematics, workspace generation. |
| File Format | |
| Publisher Date | 2004-01-01 |
| Access Restriction | Open |
| Subject Keyword | Hyperredundant Manipulator Workspace Density Function Workspace Generation Partial Differential Equation Euclidean Motion Group Unstructured Environment Harmonic Analysis High Degree Elegant Way Redundant Degree Inverse Kinematics Manipulator Performance Virtual Segment Inverse Kinematics Problem Diffusion Equation Index Term Diffusion Process Worksapce Generation Motion Group Hyper-redundant Manipulator Diffusion Process Kinematic Property Explicit Solution Manipulator Length Corresponding Workspace Density Workspace Generation Problem Diffusion-based Algorithm Abstract Hyper-redundant Manipulator |
| Content Type | Text |
| Resource Type | Article |
