Abstract
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.
| Original language | English |
|---|---|
| Pages (from-to) | 422-430 |
| Number of pages | 9 |
| Journal | International Journal of Robotics and Automation |
| Volume | 27 |
| Issue number | 4 |
| DOIs | |
| State | Published - 2012 |
Keywords
- Biologically-inspired control
- Joint limit avoidance
- Learning and adaptive systems
- Redundant manipulator
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