INVERSE KINEMATICS AND TRAJECTORY PLANNING FOR A HYPER-REDUNDANT BIONIC TRUNK-LIKE ROBOT

Yongjie Zhao, Feifei Yuan, Chengwei Chen, Lei Jin, Jianyuan Li, Xingwei Zhang, and Xinjian Lu

References

  1. [1] R. Behrens, M. Poggendorf, E. Schulenburg, et al., An elephant’s trunk-inspired robotic arm-trajectory determination and control, 7th German Conf. on Robotics (Robtik), Munich, 2012, 417–421.
  2. [2] O. Salomon and A. Wolf, Inclined links hyper-redundant elephant trunk-like robot, ASME Journal of Mechanisms and Robotics, 4(4), 2012, 045001.
  3. [3] E. Guglielmino, N. Tsagarakis, and D.G. Caldwell, An octopus anatomy-inspired robotic arm, IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS ), Taipei, 2010, 3091–3096.
  4. [4] R.J. Kang, E. Guglielmino, D.T. Branson, et al., Bio-inspired crawling locomotion of a multi-arm octopus-like continuum system, IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS ), Vilamoura, 2012, 145–150.
  5. [5] Z.Y. Bayraktaroglu, A. Kilicarslan, A. Kuzucu, et al., Design and control of biologically inspired wheel-less snake-like robot, IEEE/RAS-EMBS Int. Conf. on Biomedical Robotics and Biomechatronics (BioRob), Pias, 2006, 1001–1006.
  6. [6] R.L. Hatton, R.A. Knepper, H. Choset, et al., Snakes on a plan: Toward combining planning and control, IEEE Int. Conf. on Robotics and Automation (ICRA), Karlsruhe, 2013, 5174–5181.
  7. [7] P.K. Singh and C.M. Krishna, Continuum arm robotic manipulator: A review, Universal Journal of Mechanical Engineering, 2(6), 2014, 193–198.
  8. [8] L. Jin, The control system of hyper-redundant bionic trunk-like robot with open architecture, M.S. Thesis, Shantou University, Shantou City, China, 2017 (in Chinese).
  9. [9] Y.J. Zhao, K. Qiu, S.X. Wang, et al., Inverse kinematics and rigid-body dynamics for a three rotational degrees of freedom parallel manipulator, Robotics and Computer-Integrated Manufacturing, 31, 2015, 40–50.
  10. [10] T. Huang, P.F. Wang, J.P. Mei, et al., Time minimum trajectory planning of a 2-DOF translational parallel robot for pick-and-place operations, CIRP Annals Manufacturing Technology, 56(1), 2007, 365–368.
  11. [11] J. Gallardo-Alvarado and R. Lesso-Arroyo, Jerk analysis of a module of an artificial spine by means of screw theory, Journal of Applied Research and Technology, 7(3), 2009, 249–258.
  12. [12] J. Gallardo-Alvarado, Jerk analysis of a six-degrees-of-freedom three-legged parallel manipulator, Robotics and Computer-Integrated Manufacturing, 28(2), 2012, 220–226.
  13. [13] Y.J. Zhao, Z.Q. Zhang, and G. Cheng, Inverse rigid-body dynamic modeling and analysis for a 3UPS-PRU parallel robot, Advances in Mechanical Engineering, 9(2), 2017, 1–14.
  14. [14] L. Tang, X.Q. Tang, X.L. Jiang, et al., Dynamic trajectory planning study of planar two-dof redundantly actuated cable-suspended parallel robots, Mechatronics, 30, 2015, 187–197.
  15. [15] F. Gomez-Bravo, G. Carbone, and J.C. Fortes, Collision free trajectory planning for hybrid manipulators, Mechatronics, 22, 2012 836–851.
  16. [16] A. Bayram and M.K. Ozgoren, The position control of a spatial binary hyper redundant manipulator through its inverse kinematics, Proceedings of the Institution of Mechanical Engineers C, 227(2), 2013, 359–372.
  17. [17] G.S. Chirikjian and J.W. Burdick, A modal approach to hyper-redundant manipulator kinematics, IEEE Transactions on Robotics and Automation, 10(3), 1994, 343–354.
  18. [18] Y.J. Zhao, L. Jin, P. Zhang, et al., Inverse displacement analysis of a hyper-redundant elephant’s trunk robot, Journal of Bionic Engineering, 15(2), 2018, 397–407.
  19. [19] F. Fahimi, H. Ashrafiuon, and C. Nataraj, An improved inverse kinematic and velocity solution for spatial hyper-redundant robots, IEEE Transactions on Robotics and Automation, 18(1), 2002, 103–107.
  20. [20] R. Zhao and D. Sidobe, On-line trajectory generation considering kinematic motion constraints for robot manipulators, International Journal of Robotics and Automation, 33(6), 2018, 645–653.
  21. [21] Y. Liu, M. Cong, H. Dong, et al., Time-optimal motion planning for robot manipulators based on elitist genetic algorithm, International Journal of Robotics and Automation, 33(4), 2017, 396–405.
  22. [22] F.F. Liu and F. Lin, Time-jerk optimal planning of industrial robot trajectories, International Journal of Robotics and Automation, 31(1), 2016, 1–7.

Important Links:

Go Back