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Kinematically optimal hyper-redundant manipulator configurations

Chirikjian, Gregory S. and Burdick, Joel W. (1995) Kinematically optimal hyper-redundant manipulator configurations. IEEE Transactions on Robotics and Automation, 11 (6). pp. 794-806. ISSN 1042-296X. http://resolver.caltech.edu/CaltechAUTHORS:CHIieetra95b

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Abstract

“Hyper-redundant” robots have a very large or infinite degree of kinematic redundancy. This paper develops new methods for determining “optimal” hyper-redundant manipulator configurations based on a continuum formulation of kinematics. This formulation uses a backbone curve model to capture the robot's essential macroscopic geometric features. The calculus of variations is used to develop differential equations, whose solution is the optimal backbone curve shape. We show that this approach is computationally efficient on a single processor, and generates solutions in O(1) time for an N degree-of-freedom manipulator when implemented in parallel on O(N) processors. For this reason, it is better suited to hyper-redundant robots than other redundancy resolution methods. Furthermore, this approach is useful for many hyper-redundant mechanical morphologies which are not handled by known methods.


Item Type:Article
Additional Information:© Copyright 1995 IEEE. Reprinted with permission. Manuscript received August 4, 1994; revised January 7, 1995. This work was supported by the National Science Foundation under Grants MSS-901779, MSS-9157843, and IRI-9357738, and by the Office of Naval Research Young Investigator Award N00014-92-J1920. The authors would like to thank the anonymous reviewers for many helpful suggestions.
Record Number:CaltechAUTHORS:CHIieetra95b
Persistent URL:http://resolver.caltech.edu/CaltechAUTHORS:CHIieetra95b
Alternative URL:http://dx.doi.org/10.1109/70.478427
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:6487
Collection:CaltechAUTHORS
Deposited By: Archive Administrator
Deposited On:11 Dec 2006
Last Modified:26 Dec 2012 09:21

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