TY - GEN
T1 - A minimalistic hyper-flexible manipulator
T2 - 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020
AU - Prigozin, Amit
AU - Degani, Amir
N1 - Publisher Copyright: © 2020 IEEE.
PY - 2020/10/24
Y1 - 2020/10/24
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=85102407806&partnerID=8YFLogxK
U2 - https://doi.org/10.1109/IROS45743.2020.9341628
DO - https://doi.org/10.1109/IROS45743.2020.9341628
M3 - منشور من مؤتمر
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 8897
EP - 8902
BT - 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020
Y2 - 24 October 2020 through 24 January 2021
ER -
