TY - JOUR
T1 - A design and bio-inspired control of a novel redundant manipulator with M-DOFs links
AU - Yi, Hak
AU - Langari, Reza
PY - 2012
Y1 - 2012
N2 - In constrained workspaces, a serial manipulator with fixed length links has restricted motion for performing the required tasks. To overcome this, we suggest a novel redundant manipulator with multiple 3-degree of freedoms links capable of elongating by a maximum 25% of their nominal lengths. The joint limit avoidance approach is used as the redundancy resolution scheme. A bio-inspired closed-loop inverse kinematic algorithm based on brain limbic system is proposed to remove tracking errors. The results of the proposed method show that the proposed manipulator has a relatively efficient reachable workspace in constrained environments, compared to a serpentine 6-DOFs robotic manipulator of the same length links.
AB - In constrained workspaces, a serial manipulator with fixed length links has restricted motion for performing the required tasks. To overcome this, we suggest a novel redundant manipulator with multiple 3-degree of freedoms links capable of elongating by a maximum 25% of their nominal lengths. The joint limit avoidance approach is used as the redundancy resolution scheme. A bio-inspired closed-loop inverse kinematic algorithm based on brain limbic system is proposed to remove tracking errors. The results of the proposed method show that the proposed manipulator has a relatively efficient reachable workspace in constrained environments, compared to a serpentine 6-DOFs robotic manipulator of the same length links.
KW - Biologically-inspired control
KW - Joint limit avoidance
KW - Learning and adaptive systems
KW - Redundant manipulator
UR - http://www.scopus.com/inward/record.url?scp=84877858922&partnerID=8YFLogxK
U2 - 10.2316/Journal.206.2012.4.206-3801
DO - 10.2316/Journal.206.2012.4.206-3801
M3 - Article
AN - SCOPUS:84877858922
SN - 0826-8185
VL - 27
SP - 422
EP - 430
JO - International Journal of Robotics and Automation
JF - International Journal of Robotics and Automation
IS - 4
ER -