A minimalistic hyper-flexible manipulator: Modeling and control

Amit Prigozin, Amir Degani

نتاج البحث: فصل من :كتاب / تقرير / مؤتمرمنشور من مؤتمرمراجعة النظراء

ملخص

Robotic manipulators can be found today in most industries, from autonomous warehouses to advanced assembly lines in factories. Most of these industrial robots are characterized by having non-flexible and highly rigid links. In dense and complex environments these manipulators require many degrees of freedom (DOFs) which complicates the mechanical structure of the manipulator, as well as the control and path planning algorithms. In this work we present a minimalistic approach to reduce the number of active DOFs by using non-rigid, Hyper-Flexible Manipulators (HFM). We introduce a dynamic model of the HFM as well as a control scheme to bring the end-effector to a desired position from known initial configuration. Finally, we present experiments that support the analytic part and simulative results of this paper.

اللغة الأصليةالإنجليزيّة
عنوان منشور المضيف2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020
الصفحات8897-8902
عدد الصفحات6
رقم المعيار الدولي للكتب (الإلكتروني)9781728162126
المعرِّفات الرقمية للأشياء
حالة النشرنُشِر - 24 أكتوبر 2020
الحدث2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020 - Las Vegas, الولايات المتّحدة
المدة: ٢٤ أكتوبر ٢٠٢٠٢٤ يناير ٢٠٢١

سلسلة المنشورات

الاسمIEEE International Conference on Intelligent Robots and Systems

!!Conference

!!Conference2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020
الدولة/الإقليمالولايات المتّحدة
المدينةLas Vegas
المدة٢٤/١٠/٢٠٢٤/٠١/٢١

All Science Journal Classification (ASJC) codes

  • !!Control and Systems Engineering
  • !!Software
  • !!Computer Vision and Pattern Recognition
  • !!Computer Science Applications

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