Redundancy resolution using tractrix -- Simulations and Experiments

Ravi, VC and Rakshit, Subrata and Ghosal, Ashitava (2010) Redundancy resolution using tractrix -- Simulations and Experiments. In: ASME Journal of Mechanisms and Robotics, 2 (3). 031013-1.

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Abstract

Hyper-redundant robots are characterized by the presence of a large number of actuated joints, many more than the number required to perform a given task. These robots have been proposed and used for many applications involving avoiding obstacles or, in general, to provide enhanced dexterity in performing tasks. Making effective use of the extra degrees of freedom or resolution of redundancy has been an extensive topic of research and several methods have been proposed in literature. In this paper, we compare three known methods and show that an algorithm based on a classical curve called the tractrix leads to a more 'natural' motion of the hyper-redundant robot, with the displacements diminishing from the end-effector to the fixed base. In addition, since the actuators nearer the base 'see' a greater inertia due to the links farther away, smaller motion of the actuators nearer the base results in better motion of the end-effector as compared to other two approaches. We present simulation and experimental results performed on a prototype eight link planar hyper-redundant manipulator.

Item Type:	Journal Article
Publication:	ASME Journal of Mechanisms and Robotics
Publisher:	ASME
Additional Information:	Copyright of this article belongs to ASME
Department/Centre:	Division of Mechanical Sciences > Mechanical Engineering
Date Deposited:	28 Dec 2010 08:04
Last Modified:	28 Dec 2010 08:05
URI:	http://eprints.iisc.ac.in/id/eprint/33929

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