Implementation and kinematic control of a hyper-redundant mobile manipulator system

Qing Xuan Jia; Qiang Zhan; Han Xu Sun; Lei Hong

doi:10.1016/S1000-9361(11)60272-0

Implementation and kinematic control of a hyper-redundant mobile manipulator system

Qing Xuan Jia^*
, Qiang Zhan
, Han Xu Sun
, Lei Hong

^*Corresponding author for this work

School of Mechanical Engineering and Automation

Research output: Contribution to journal › Article › peer-review

4 Scopus citations

Abstract

Redundant or hyper-redundant mobile manipulator can give lots of assistance to astronauts in space station. The design and implementation of a hyper-redundant mobile manipulator system are described, which is composed of an 8 DOF module robot and a 1 DOF motorized rail. Inverse kinematic resolution of the system is discussed and one simplified control method based on joint limit avoidance and configuration optimization is proposed. Simulation and experimental results are presented.

Original language	English
Pages (from-to)	83-88
Number of pages	6
Journal	Chinese Journal of Aeronautics
Volume	19
Issue number	1
DOIs	https://doi.org/10.1016/S1000-9361(11)60272-0
State	Published - Feb 2006

Keywords

Hyper-redundant manipulator
Inverse kinematics
Mobile manipulator

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10.1016/S1000-9361(11)60272-0

Cite this

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title = "Implementation and kinematic control of a hyper-redundant mobile manipulator system",

abstract = "Redundant or hyper-redundant mobile manipulator can give lots of assistance to astronauts in space station. The design and implementation of a hyper-redundant mobile manipulator system are described, which is composed of an 8 DOF module robot and a 1 DOF motorized rail. Inverse kinematic resolution of the system is discussed and one simplified control method based on joint limit avoidance and configuration optimization is proposed. Simulation and experimental results are presented.",

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author = "Jia, \{Qing Xuan\} and Qiang Zhan and Sun, \{Han Xu\} and Lei Hong",

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AU - Jia, Qing Xuan

AU - Zhan, Qiang

AU - Sun, Han Xu

AU - Hong, Lei

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Y1 - 2006/2

N2 - Redundant or hyper-redundant mobile manipulator can give lots of assistance to astronauts in space station. The design and implementation of a hyper-redundant mobile manipulator system are described, which is composed of an 8 DOF module robot and a 1 DOF motorized rail. Inverse kinematic resolution of the system is discussed and one simplified control method based on joint limit avoidance and configuration optimization is proposed. Simulation and experimental results are presented.

AB - Redundant or hyper-redundant mobile manipulator can give lots of assistance to astronauts in space station. The design and implementation of a hyper-redundant mobile manipulator system are described, which is composed of an 8 DOF module robot and a 1 DOF motorized rail. Inverse kinematic resolution of the system is discussed and one simplified control method based on joint limit avoidance and configuration optimization is proposed. Simulation and experimental results are presented.

KW - Hyper-redundant manipulator

KW - Inverse kinematics

KW - Mobile manipulator

UR - https://www.scopus.com/pages/publications/33644772511

U2 - 10.1016/S1000-9361(11)60272-0

DO - 10.1016/S1000-9361(11)60272-0

M3 - 文章

AN - SCOPUS:33644772511

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SP - 83

EP - 88

JO - Chinese Journal of Aeronautics

JF - Chinese Journal of Aeronautics

IS - 1

ER -

Implementation and kinematic control of a hyper-redundant mobile manipulator system

Abstract

Keywords

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