Generating optimal reference kinematic ...
Type de document :
Article dans une revue scientifique: Article original
DOI :
Titre :
Generating optimal reference kinematic configurations for hyper-redundant parallel robots
Auteur(s) :
Chibani, Abdelhakim [Auteur]
Université Frères Mentouri – Constantine 1 = Constantine 1 – Frères Mentouri University [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 [Algérie] = University of Constantine [Algeria]
Université Frères Mentouri – Constantine 1 = Constantine 1 – Frères Mentouri University [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 [Algérie] = University of Constantine [Algeria]
Titre de la revue :
Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering
Pagination :
867 - 882
Éditeur :
SAGE Publications
Date de publication :
2015
ISSN :
0959-6518
Mot(s)-clé(s) en anglais :
Hyper-redundant manipulator
parallel robot
kinematics
optimization
parallel robot
kinematics
optimization
Discipline(s) HAL :
Informatique [cs]/Modélisation et simulation
Informatique [cs]/Robotique [cs.RO]
Informatique [cs]/Systèmes et contrôle [cs.SY]
Informatique [cs]/Systèmes embarqués
Informatique [cs]/Automatique
Informatique [cs]/Robotique [cs.RO]
Informatique [cs]/Systèmes et contrôle [cs.SY]
Informatique [cs]/Systèmes embarqués
Informatique [cs]/Automatique
Résumé en anglais : [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 ...
Lire la suite >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.Lire moins >
Lire la suite >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.Lire moins >
Langue :
Anglais
Comité de lecture :
Oui
Audience :
Internationale
Vulgarisation :
Non
Collections :
Source :