Title :

Generating optimal reference kinematic configurations for hyper-redundant parallel robots

Author(s) :

Chibani, Abdelhakim [Auteur]
Université frères Mentouri Constantine I [UMC]
Mahfoudi, Chawki [Auteur]
Chettibi, Taha [Auteur]
Merzouki, Rochdi [Auteur]
Méthodes et Outils pour la Conception Intégrée de Systèmes [MOCIS]
Zaatri, Abdelouhab [Auteur]
Université de Constantine

Journal title :

Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering

Pages :

867 - 882

Publisher :

SAGE Publications

Publication date :

2015

ISSN :

0959-6518

English keyword(s) :

Hyper-redundant manipulator
parallel robot
kinematics
optimization

HAL domain(s) :

Informatique [cs]/Modélisation et simulation
Informatique [cs]/Robotique [cs.RO]
Informatique [cs]/Systèmes et contrôle [cs.SY]
Informatique [cs]/Systèmes embarqués
Informatique [cs]/Automatique

English abstract : [en]

In this article, we propose an optimization process able to generate optimal kinematic configuration for spatial hyper-redundant manipulators with multiple rigid parallel modules. The proposed method uses a deterministic ...
Show more >In this article, we propose an optimization process able to generate optimal kinematic configuration for spatial hyper-redundant manipulators with multiple rigid parallel modules. The proposed method uses a deterministic optimization scheme that evaluates the score of trial kinematic configurations while accounting for various geometric constraints. This versatile method is based on a simultaneous search for both the best curve capturing the overall kinematic robot posture and the platform distribution along this curve. This process is carried out using the powerful sequential quadra-tic programming technique. Numerical results are presented to illustrate the efficiency of the proposed approach. Finally, this model was validated by real measurements obtained with the continuum bionic handling arm of a mobile robot called Robotino-XT.Show less >

Language :

Anglais

Peer reviewed article :

Oui

Audience :

Internationale

Popular science :

Non

Collections :

• Centre de Recherche en Informatique, Signal et Automatique de Lille (CRIStAL) - UMR 9189

Source :

Harvested from HAL