Collision free control of variable length hyper redundant robot manipulator

Hyper-redundant robot (HRR) manipulators are useful at navigating convoluted paths, but conventionally complicated to control. The control of a hyper-redundant manipulator is complex due to its redundancy. In this paper, a simple but effective control algorithm for obstacle avoidance is propos...

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Main Authors: Jamali, Annisa, Khan, Md. Raisuddin, Osman, M. Shahril, Rahman, Md. Mozasser, Ashari, Muhd Fadzli, Jamaludin, Mohd Syahmi, Junaidi, Ervina
Format: Article
Language:English
Published: Trans Tech Publications Ltd., Switzerland 2014
Subjects:
Online Access:http://irep.iium.edu.my/36220/
http://irep.iium.edu.my/36220/
http://irep.iium.edu.my/36220/
http://irep.iium.edu.my/36220/1/Annisa_Applied_Mechanics.pdf
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recordtype eprints
spelling iium-362202018-06-20T01:46:22Z http://irep.iium.edu.my/36220/ Collision free control of variable length hyper redundant robot manipulator Jamali, Annisa Khan, Md. Raisuddin Osman, M. Shahril Rahman, Md. Mozasser Ashari, Muhd Fadzli Jamaludin, Mohd Syahmi Junaidi, Ervina TJ210.2 Mechanical devices and figures. Automata. Ingenious mechanism. Robots (General) Hyper-redundant robot (HRR) manipulators are useful at navigating convoluted paths, but conventionally complicated to control. The control of a hyper-redundant manipulator is complex due to its redundancy. In this paper, a simple but effective control algorithm for obstacle avoidance is proposed. The algorithm derives a collision free path around known obstacles so that the end-effector of a variable length hyper redundant robot (VHRR) is able to reach the target location following the path without hitting the obstacles. The algorithm can be grouped into two tasks to drive the end-effector along the collision free trajectories: first, solve the inverse kinematics without disregarding the existence of obstacles in the system; and second, fit the manipulator to the respective prescribe trajectories. This method has the capability to allow VHRR maneuver within its workspace without penetrating to the neighboring obstruction. Further, this method is very effective in the sense that it forms a nice coil profile avoiding zig-zag configuration, and thus eliminates sharp turn on the robot. The performance of a VHRR was tested through simulation to demonstrate the effectiveness of the proposed method. The approach succeeded in delivering the path that avoids obstacle. Trans Tech Publications Ltd., Switzerland 2014-03-12 Article PeerReviewed application/pdf en http://irep.iium.edu.my/36220/1/Annisa_Applied_Mechanics.pdf Jamali, Annisa and Khan, Md. Raisuddin and Osman, M. Shahril and Rahman, Md. Mozasser and Ashari, Muhd Fadzli and Jamaludin, Mohd Syahmi and Junaidi, Ervina (2014) Collision free control of variable length hyper redundant robot manipulator. Applied Mechanics and Materials, 541/42. pp. 1107-1114. ISSN 1660-9336 http://www.scientific.net/AMM.541-542.1107 10.4028/www.scientific.net/AMM.541-542.1107
repository_type Digital Repository
institution_category Local University
institution International Islamic University Malaysia
building IIUM Repository
collection Online Access
language English
topic TJ210.2 Mechanical devices and figures. Automata. Ingenious mechanism. Robots (General)
spellingShingle TJ210.2 Mechanical devices and figures. Automata. Ingenious mechanism. Robots (General)
Jamali, Annisa
Khan, Md. Raisuddin
Osman, M. Shahril
Rahman, Md. Mozasser
Ashari, Muhd Fadzli
Jamaludin, Mohd Syahmi
Junaidi, Ervina
Collision free control of variable length hyper redundant robot manipulator
description Hyper-redundant robot (HRR) manipulators are useful at navigating convoluted paths, but conventionally complicated to control. The control of a hyper-redundant manipulator is complex due to its redundancy. In this paper, a simple but effective control algorithm for obstacle avoidance is proposed. The algorithm derives a collision free path around known obstacles so that the end-effector of a variable length hyper redundant robot (VHRR) is able to reach the target location following the path without hitting the obstacles. The algorithm can be grouped into two tasks to drive the end-effector along the collision free trajectories: first, solve the inverse kinematics without disregarding the existence of obstacles in the system; and second, fit the manipulator to the respective prescribe trajectories. This method has the capability to allow VHRR maneuver within its workspace without penetrating to the neighboring obstruction. Further, this method is very effective in the sense that it forms a nice coil profile avoiding zig-zag configuration, and thus eliminates sharp turn on the robot. The performance of a VHRR was tested through simulation to demonstrate the effectiveness of the proposed method. The approach succeeded in delivering the path that avoids obstacle.
format Article
author Jamali, Annisa
Khan, Md. Raisuddin
Osman, M. Shahril
Rahman, Md. Mozasser
Ashari, Muhd Fadzli
Jamaludin, Mohd Syahmi
Junaidi, Ervina
author_facet Jamali, Annisa
Khan, Md. Raisuddin
Osman, M. Shahril
Rahman, Md. Mozasser
Ashari, Muhd Fadzli
Jamaludin, Mohd Syahmi
Junaidi, Ervina
author_sort Jamali, Annisa
title Collision free control of variable length hyper redundant robot manipulator
title_short Collision free control of variable length hyper redundant robot manipulator
title_full Collision free control of variable length hyper redundant robot manipulator
title_fullStr Collision free control of variable length hyper redundant robot manipulator
title_full_unstemmed Collision free control of variable length hyper redundant robot manipulator
title_sort collision free control of variable length hyper redundant robot manipulator
publisher Trans Tech Publications Ltd., Switzerland
publishDate 2014
url http://irep.iium.edu.my/36220/
http://irep.iium.edu.my/36220/
http://irep.iium.edu.my/36220/
http://irep.iium.edu.my/36220/1/Annisa_Applied_Mechanics.pdf
first_indexed 2023-09-18T20:51:50Z
last_indexed 2023-09-18T20:51:50Z
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