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Extensibility in local sensor based planning for hyper-redundant manipulators (robot snakes)
| Content Provider | NASA Technical Reports Server (NTRS) |
|---|---|
| Author | Burdick, Joel Choset, Howie |
| Copyright Year | 1994 |
| Description | Partial Shape Modification (PSM) is a local sensor feedback method used for hyper-redundant robot manipulators, in which the redundancy is very large or infinite such as that of a robot snake. This aspect of redundancy enables local obstacle avoidance and end-effector placement in real time. Due to the large number of joints or actuators in a hyper-redundant manipulator, small displacement errors of such easily accumulate to large errors in the position of the tip relative to the base. The accuracy could be improved by a local sensor based planning method in which sensors are distributed along the length of the hyper-redundant robot. This paper extends the local sensor based planning strategy beyond the limitations of the fixed length of such a manipulator when its joint limits are met. This is achieved with an algorithm where the length of the deforming part of the robot is variable. Thus , the robot's local avoidance of obstacles is improved through the enhancement of its extensibility. |
| File Size | 9771032 |
| Page Count | 10 |
| File Format | |
| Alternate Webpage(s) | http://archive.org/details/NASA_NTRS_Archive_19950005137 |
| Archival Resource Key | ark:/13960/t0ps2qb1b |
| Language | English |
| Publisher Date | 1994-03-01 |
| Access Restriction | Open |
| Subject Keyword | Cybernetics Robot Arms Actuators Range Extremes Degrees of Freedom Algorithms Obstacle Avoidance Redundant Components Manipulators End Effectors Feedback Control Robots Real Time Operation Ntrs Nasa Technical Reports Server (ntrs) Nasa Technical Reports Server Aerodynamics Aircraft Aerospace Engineering Aerospace Aeronautic Space Science |
| Content Type | Text |
| Resource Type | Article |
