A modal approach to hyper-redundant manipulator kinematics Export

@article{citeulike:2028150, abstract = {This paper presents novel and efficient kinematic modeling techniques for \“hyper-redundant\” robots. This approach is based on a \“backbone curve\” that captures the robot's macroscopic geometric features. The inverse kinematic, or \“hyper-redundancy resolution,\” problem reduces to determining the time varying backbone curve behavior. To efficiently solve the inverse kinematics problem, the authors introduce a \“modal\” approach, in which a set of intrinsic backbone curve shape functions are restricted to a modal form. The singularities of the modal approach, modal non-degeneracy conditions, and modal switching are considered. For discretely segmented morphologies, the authors introduce \“fitting\” algorithms that determine the actuator displacements that cause the discrete manipulator to adhere to the backbone curve. These techniques are demonstrated with planar and spatial mechanism examples. They have also been implemented on a 30 degree-of-freedom robot prototype}, author = {Chirikjian, G. S. and Burdick, J. W.}, booktitle = {Robotics and Automation, IEEE Transactions on}, citeulike-article-id = {2028150}, citeulike-linkout-0 = {http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=294209}, journal = {Robotics and Automation, IEEE Transactions on}, keywords = {robot, snake}, number = {3}, pages = {343--354}, posted-at = {2008-09-04 08:05:31}, priority = {2}, title = {A modal approach to hyper-redundant manipulator kinematics}, url = {http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=294209}, volume = {10}, year = {1994} }

TY - JOUR ID - citeulike:2028150 L3 - citeulike-article-id:2028150 N2 - This paper presents novel and efficient kinematic modeling techniques for “hyper-redundant” robots. This approach is based on a “backbone curve” that captures the robot's macroscopic geometric features. The inverse kinematic, or “hyper-redundancy resolution,” problem reduces to determining the time varying backbone curve behavior. To efficiently solve the inverse kinematics problem, the authors introduce a “modal” approach, in which a set of intrinsic backbone curve shape functions are restricted to a modal form. The singularities of the modal approach, modal non-degeneracy conditions, and modal switching are considered. For discretely segmented morphologies, the authors introduce “fitting” algorithms that determine the actuator displacements that cause the discrete manipulator to adhere to the backbone curve. These techniques are demonstrated with planar and spatial mechanism examples. They have also been implemented on a 30 degree-of-freedom robot prototype IS - 3 JF - Robotics and Automation, IEEE Transactions on EP - 354 TI - A modal approach to hyper-redundant manipulator kinematics VL - 10 T2 - Robotics and Automation, IEEE Transactions on SP - 343 KW - robot KW - snake AU - Chirikjian, GS AU - Burdick, JW PY - 1994/// UR - http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=294209 ER -