DESIGN AND ANALYSIS OF AN INNOVATIVE MODULAR ROBOTIC MANIPULATOR

Hak Yi, Chaeyoun Oh, and Reza Langari

References

  1. [1] H. Seraji, Configuration control of redundant manipulators: Theory and implementation, IEEE Transaction on Robotics and Automation, 5, 1998, 472–490.
  2. [2] E. Shammas, A. Wolf, and H. Choset, Three degrees-of freedom joint for spatial hyper-redundant robots, Mechanism and Machine Theory, 41, 2006, 170–190.
  3. [3] S. Murata, E. Yoshida, A. Kamimura, H. Kurokawa, K. Tomita, and S. Kokaji, M-TRAN: Self-reconfigurable modular robotic system, IEEE/ASME Transaction on Mechatronics, 7, 2002, 431–441.
  4. [4] M. Yim, P. White, M. Park, and J. Sastra, Modular selfreconfigurable robots, Encyclopedia of complexity and systems science (Springer, 2009), 5618–5631.
  5. [5] E. Paljug, T. Timothy, and S. Hayati, JPL serpentine robot: A 12 DOF system for inspection, IEEE International Conference on Robotics and Automation, Nagoya, Japan, 1995, 3143–3148.
  6. [6] T. Zhang, C. Liu, Z. Qian, D. Zhang, M. Gupta, and W. Zhang, Configuration synthesis of underactuated resilient robotic systems, IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Besan¸con, France, 2014.
  7. [7] H. Yi, J. Yoo, and R. Langari, Dynamic analysis and sliding mode control of a novel extendable modular multi-DOFs link, ASME 2012 International Mechanical Engineering Congress & Exposition, Houston, TX, 2012, 337–342.
  8. [8] H. Yi and R. Langari, A design and bio-inspired control of a novel redundant manipulator with m-DOF links, International Journal of Robotics and Automation, 27, 2012, 431–437.
  9. [9] M. Avriel, J. Rijckaert, and J. Wilde, Optimization and design (Prentice-Hall, 1973).
  10. [10] R. Malak, J. Aughenbaugh, and C. Paredis, Multi-attribute utility analysis in set-based conceptual design, Computer-Aided Design, 41, 2009, 214–227.
  11. [11] P. Ferreira and M. Machado, Solving multiple-objective problems in the objective space, Journal of Optimization Theory and Applications, 89, 1996, 659–680.
  12. [12] R. Murray, Z. Li, and S. Satyr, A mathematical introduction to robotic manipulation (CRC Press, 1994).
  13. [13] S. Stramigioli and H. Bruyninckx, Geometry and screw theory for robotics, IEEE/RSJ International Conference on Robots and Automation, Seoul, South Korea, Tutorial 9, 2001.
  14. [14] F. Park, J. Bobrow, and S. Ploen, A lie group formulation of robot dynamics, International Journal of Robotics Research, 14, 1995, 609–628.
  15. [15] Y. Umetani and K. Yoshida, Workspace and manipulability analysis of space manipulator, The Transaction of the Society of Instrument and Control Engineers, E, 2001, 1–8.
  16. [16] E. Conkur and R. Buckingham, Clarifying the definition of redundancy as used in robotics, Robotica, 15, 1997, 583–586.
  17. [17] C. Gosselin and J. Angeles, Singularity analysis of closed-loop kinematic chains, IEEE Transactions on Robotics and Automation, 6, 1990, 281–290.

Important Links:

Go Back