Relevant bibliographies by topics / Planar Hyper-redundant Robot

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  1. Journal articles
  2. Dissertations / Theses
  3. Book chapters
  4. Conference papers

Academic literature on the topic 'Planar Hyper-redundant Robot'

Author: Grafiati
Published: 6 September 2023
Last updated: 31 July 2025

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Journal articles on the topic "Planar Hyper-redundant Robot"

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Dalla, Vijay Kumar, and Pushparaj Mani Pathak. "Curve-constrained collision-free trajectory control of hyper-redundant planar space robot." Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering 231, no. 4 (2017): 282–98. http://dx.doi.org/10.1177/0959651817698350.

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Redundancy resolution in a hyper-redundant space robots is a big challenge due to its extra degrees of freedom. This article presents a methodology to control motion planning of a planar space robot with multiple links, that is, hyper-redundant space robot. For control purpose, first a curve-constrained link trajectory tracking control has been developed. Then, the developed control approach has been extended for a collision-free trajectory tracking. For curve-constrained link trajectory tracking control, the backbone reference set (curve fitting) has been applied to exploit the redundancy of
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Menon, Midhun S., V. C. Ravi, and Ashitava Ghosal. "Trajectory Planning and Obstacle Avoidance for Hyper-Redundant Serial Robots." Journal of Mechanisms and Robotics 9, no. 4 (2017). http://dx.doi.org/10.1115/1.4036571.

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Hyper-redundant snakelike serial robots are of great interest due to their application in search and rescue during disaster relief in highly cluttered environments and recently in the field of medical robotics. A key feature of these robots is the presence of a large number of redundant actuated joints and the associated well-known challenge of motion planning. This problem is even more acute in the presence of obstacles. Obstacle avoidance for point bodies, nonredundant serial robots with a few links and joints, and wheeled mobile robots has been extensively studied, and several mature implem
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Bulut, Yalçın, and Erdinc Sahin Conkur. "A gravitational torque-compensated 2-DOF planar robotic arm design and its active control." Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science, May 17, 2021, 095440622110095. http://dx.doi.org/10.1177/09544062211009555.

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Serial robot manipulators have their servo motors with reduction gears on the link joints. When it comes to hyper-redundant robots, this kind of joint actuation mechanism cannot be implemented since this makes hyper-redundant robots too heavy. Instead, cable driven mechanisms are preferred. However, the positioning accuracy is negatively affected by the cables. This paper addresses the positioning accuracy problem of cable driven hyper-redundant robots by employing a 2-DOF robotic arm whose modules are counter-balanced. While the actuators connected to the base actively do most of the work usi
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Ravi, V. C., Subrata Rakshit, and Ashitava Ghosal. "Redundancy Resolution Using Tractrix—Simulations and Experiments." Journal of Mechanisms and Robotics 2, no. 3 (2010). http://dx.doi.org/10.1115/1.4001777.

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Hyper-redundant robots are characterized by the presence of a large number of actuated joints, a lot 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 th
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Chen, Genliang, Zhuang Zhang, and Hao Wang. "A General Approach to the Large Deflection Problems of Spatial Flexible Rods Using Principal Axes Decomposition of Compliance Matrices." Journal of Mechanisms and Robotics 10, no. 3 (2018). http://dx.doi.org/10.1115/1.4039223.

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This paper presents a general discretization-based approach to the large deflection problems of spatial flexible links in compliant mechanisms. Based on the principal axes decomposition of structural compliance matrices, a particular type of elements, which relate to spatial six degrees-of-freedom (DOF) serial mechanisms with passive elastic joints, is developed to characterize the force-deflection behavior of the discretized small segments. Hence, the large deflection problems of spatial flexible rods can be transformed to the determination of static equilibrium configurations of their equiva
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Medina, Oded, Amir Shapiro, and Nir Shvalb. "Kinematics for an Actuated Flexible n-Manifold." Journal of Mechanisms and Robotics 8, no. 2 (2015). http://dx.doi.org/10.1115/1.4031301.

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Recent years show an increasing interest in flexible robots due to their adaptability merits. This paper introduces a novel set of hyper-redundant flexible robots which we call actuated flexible manifold (AFM). The AFM is a two-dimensional hyper-redundant grid surface embedded in ℝ2 or ℝ3. Theoretically, such a mechanism can be manipulated into any continuous smooth function. We introduce the mathematical framework for the kinematics of an AFM. We prove that for a nonsingular configuration, the number of degrees of freedom (DOF) of an AFM is simply the number of its grid segments. We also show
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Dissertations / Theses on the topic "Planar Hyper-redundant Robot"

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Menon, Midhun Sreekumar. "Motion Planning of Flexible One-dimensional Object and Hyper-redundant Robots." Thesis, 2016. http://etd.iisc.ac.in/handle/2005/4061.

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This thesis deals with motion planning of flexible one-dimensional objects and hyper-redundant serial robots moving in a plane or in three dimensional space. The flexible one-dimensional object is modeled as a continuous curve and a point on the curve is given a prescribed dis-placement. The key problem studied in the thesis is to obtain the motion of all points on the curve for the prescribed displacement subject to the condition of the length of the curve being preserved. Such motions are motivated by the need to model, analyze and realistically render of motion of hair, ropes and, more rece
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Book chapters on the topic "Planar Hyper-redundant Robot"

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Kumar, Rajesh, and Sudipto Mukherjee. "Resolving Hyper-Redundant Planar Serial Robots to Ensure Grasp." In Lecture Notes in Mechanical Engineering. Springer Singapore, 2021. http://dx.doi.org/10.1007/978-981-16-0550-5_88.

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Conference papers on the topic "Planar Hyper-redundant Robot"

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Asl, Farshid Maghami, Hashem Ashrafiuon, and C. Nataraj. "Analysis of Hyper-Redundant Manipulators." In ASME 1999 Design Engineering Technical Conferences. American Society of Mechanical Engineers, 1999. http://dx.doi.org/10.1115/detc99/vib-8222.

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Abstract A new approach to solve the inverse kinematic problem for hyper-redundant planar manipulators following any desired path is presented. The method is singularity free and provides a robust solution even in the event of mechanical failure of some of the robot actuators. The approach is based on defining virtual layers and dividing them into virtual/real three-link or four-link sub-robots. It starts by solving the inverse kinematic problem for the sub-robot located in the lowest virtual layer, which is then used to solve the inverse kinematic equations for the sub-robots located in the u
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2

Ravi, V. C., Subrata Rakshit, and Ashitava Ghosal. "Redundancy Resolution Using Tractrix: Simulations and Experiments." In ASME 2009 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2009. http://dx.doi.org/10.1115/detc2009-86934.

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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 application 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 have 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
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3

Rakotomanga, Novona, and Ilian A. Bonev. "Completely Eliminating the Singularities of a 3-DOF Planar Parallel Robot With Only One Degree of Actuation Redundancy." In ASME 2010 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2010. http://dx.doi.org/10.1115/detc2010-28829.

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The Cartesian workspace of an n-DOF parallel robot (n < 6) is generally divided by singularity hyper-surfaces of dimension n−1. A common approach to reducing the dimension of the singularity manifold is to use actuation redundancy. However, in all previously reported works, adding one redundant actuator reduces the dimension of the singularity manifold by only one. This paper is the first to demonstrate that a properly designed actuation redundancy can be much more effective than this. Specifically, a 3-RPR design is presented in which the mobile platform and the base are equilateral tr
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