A minimalistic hyper-flexible manipulator: Modeling and control

Amit Prigozin, Amir Degani

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

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.

Original languageEnglish
Title of host publication2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020
Pages8897-8902
Number of pages6
ISBN (Electronic)9781728162126
DOIs
StatePublished - 24 Oct 2020
Event2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020 - Las Vegas, United States
Duration: 24 Oct 202024 Jan 2021

Publication series

NameIEEE International Conference on Intelligent Robots and Systems

Conference

Conference2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020
Country/TerritoryUnited States
CityLas Vegas
Period24/10/2024/01/21

All Science Journal Classification (ASJC) codes

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

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