Staff View: A General Solution for the Position, Velocity, and Acceleration of Hyperredundant Planar Manipulators.

A General Solution for the Position, Velocity, and Acceleration of Hyperredundant Planar Manipulators.

Bibliographic Details
Main Authors:	Asl, Farshid Maghami., Ashrafiuon, Hashem., Nataraj, C.
Format:	Villanova Faculty Authorship
Language:	English
Published:	2002
Online Access:	http://ezproxy.villanova.edu/login?url=https://digital.library.villanova.edu/Item/vudl:173858

Main Authors:

Asl, Farshid Maghami., Ashrafiuon, Hashem., Nataraj, C.

Format:

Villanova Faculty Authorship

Language:

English

Published:

2002

Online Access:

http://ezproxy.villanova.edu/login?url=https://digital.library.villanova.edu/Item/vudl:173858

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spelling	A General Solution for the Position, Velocity, and Acceleration of Hyperredundant Planar Manipulators. Asl, Farshid Maghami. Ashrafiuon, Hashem. Nataraj, C. A new approach for the solution of the position, velocity, and acceleration of hyperredundant planar manipulators following any twice-differentiable desired path is presented. The method is singularity free, and provides a robust solution even in the event of mechanical failure of some of the robot actuators. The approach is based on defining virtual layers, and dividing them into virtual/real three-link or four-link subrobots. It starts by solving the inverse kinematic problem for the subrobot located in the lowest virtual layer,which is then used to solve the inverse kinematic equations for the subrobots located in the upper virtual layers. An algorithm is developed that provides a singularity-free solution up to the full extension through a configuration index. The configuration index can be interpreted as the average of the determinants of the Jacobians of the subrobots. The equations for the velocities and accelerations of the manipulator are solved by extending the same approach, and it is shown that the value of the configuration index is critical in maintaining joint velocity continuity. The inverse dynamic problem of the robot is also solved to obtain the torques required for the robot actuators to accomplish their tasks. Computer simulations of several hyperredundant manipulators using the proposed method are presented as numerical examples. 2002 Villanova Faculty Authorship vudl:173858 Journal of Robotic Systems 19(1), 2002, 1-12. en
dc.title_txt_mv	A General Solution for the Position, Velocity, and Acceleration of Hyperredundant Planar Manipulators.
dc.creator_txt_mv	Asl, Farshid Maghami. Ashrafiuon, Hashem. Nataraj, C.
dc.description_txt_mv	A new approach for the solution of the position, velocity, and acceleration of hyperredundant planar manipulators following any twice-differentiable desired path is presented. The method is singularity free, and provides a robust solution even in the event of mechanical failure of some of the robot actuators. The approach is based on defining virtual layers, and dividing them into virtual/real three-link or four-link subrobots. It starts by solving the inverse kinematic problem for the subrobot located in the lowest virtual layer,which is then used to solve the inverse kinematic equations for the subrobots located in the upper virtual layers. An algorithm is developed that provides a singularity-free solution up to the full extension through a configuration index. The configuration index can be interpreted as the average of the determinants of the Jacobians of the subrobots. The equations for the velocities and accelerations of the manipulator are solved by extending the same approach, and it is shown that the value of the configuration index is critical in maintaining joint velocity continuity. The inverse dynamic problem of the robot is also solved to obtain the torques required for the robot actuators to accomplish their tasks. Computer simulations of several hyperredundant manipulators using the proposed method are presented as numerical examples.
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author	Asl, Farshid Maghami. Ashrafiuon, Hashem. Nataraj, C.
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description	A new approach for the solution of the position, velocity, and acceleration of hyperredundant planar manipulators following any twice-differentiable desired path is presented. The method is singularity free, and provides a robust solution even in the event of mechanical failure of some of the robot actuators. The approach is based on defining virtual layers, and dividing them into virtual/real three-link or four-link subrobots. It starts by solving the inverse kinematic problem for the subrobot located in the lowest virtual layer,which is then used to solve the inverse kinematic equations for the subrobots located in the upper virtual layers. An algorithm is developed that provides a singularity-free solution up to the full extension through a configuration index. The configuration index can be interpreted as the average of the determinants of the Jacobians of the subrobots. The equations for the velocities and accelerations of the manipulator are solved by extending the same approach, and it is shown that the value of the configuration index is critical in maintaining joint velocity continuity. The inverse dynamic problem of the robot is also solved to obtain the torques required for the robot actuators to accomplish their tasks. Computer simulations of several hyperredundant manipulators using the proposed method are presented as numerical examples.
title	A General Solution for the Position, Velocity, and Acceleration of Hyperredundant Planar Manipulators.
title_full	A General Solution for the Position, Velocity, and Acceleration of Hyperredundant Planar Manipulators.
title_fullStr	A General Solution for the Position, Velocity, and Acceleration of Hyperredundant Planar Manipulators.
title_full_unstemmed	A General Solution for the Position, Velocity, and Acceleration of Hyperredundant Planar Manipulators.
title_short	A General Solution for the Position, Velocity, and Acceleration of Hyperredundant Planar Manipulators.
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A General Solution for the Position, Velocity, and Acceleration of Hyperredundant Planar Manipulators.
Asl, Farshid Maghami.
Ashrafiuon, Hashem.
Nataraj, C.
A new approach for the solution of the position, velocity, and acceleration of hyperredundant planar manipulators following any twice-differentiable desired path is presented. The method is singularity free, and provides a robust solution even in the event of mechanical failure of some of the robot actuators. The approach is based on defining virtual layers, and dividing them into virtual/real three-link or four-link subrobots. It starts by solving the inverse kinematic problem for the subrobot located in the lowest virtual layer,which is then used to solve the inverse kinematic equations for the subrobots located in the upper virtual layers. An algorithm is developed that provides a singularity-free solution up to the full extension through a configuration index. The configuration index can be interpreted as the average of the determinants of the Jacobians of the subrobots. The equations for the velocities and accelerations of the manipulator are solved by extending the same approach, and it is shown that the value of the configuration index is critical in maintaining joint velocity continuity. The inverse dynamic problem of the robot is also solved to obtain the torques required for the robot actuators to accomplish their tasks. Computer simulations of several hyperredundant manipulators using the proposed method are presented as numerical examples.
2002
Villanova Faculty Authorship
vudl:173858
Journal of Robotic Systems 19(1), 2002, 1-12.
en

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A General Solution for the Position, Velocity, and Acceleration of Hyperredundant Planar Manipulators.

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Asl, Farshid Maghami.
Ashrafiuon, Hashem.
Nataraj, C.

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A new approach for the solution of the position, velocity, and acceleration of hyperredundant planar manipulators following any twice-differentiable desired path is presented. The method is singularity free, and provides a robust solution even in the event of mechanical failure of some of the robot actuators. The approach is based on defining virtual layers, and dividing them into virtual/real three-link or four-link subrobots. It starts by solving the inverse kinematic problem for the subrobot located in the lowest virtual layer,which is then used to solve the inverse kinematic equations for the subrobots located in the upper virtual layers. An algorithm is developed that provides a singularity-free solution up to the full extension through a configuration index. The configuration index can be interpreted as the average of the determinants of the Jacobians of the subrobots. The equations for the velocities and accelerations of the manipulator are solved by extending the same approach, and it is shown that the value of the configuration index is critical in maintaining joint velocity continuity. The inverse dynamic problem of the robot is also solved to obtain the torques required for the robot actuators to accomplish their tasks. Computer simulations of several hyperredundant manipulators using the proposed method are presented as numerical examples.

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Ashrafiuon, Hashem.
Nataraj, C.

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Ashrafiuon, Hashem.
Nataraj, C.
A General Solution for the Position, Velocity, and Acceleration of Hyperredundant Planar Manipulators.

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Ashrafiuon, Hashem.
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A General Solution for the Position, Velocity, and Acceleration of Hyperredundant Planar Manipulators.

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A General Solution for the Position, Velocity, and Acceleration of Hyperredundant Planar Manipulators.

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A General Solution for the Position, Velocity, and Acceleration of Hyperredundant Planar Manipulators.

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A General Solution for the Position, Velocity, and Acceleration of Hyperredundant Planar Manipulators.

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