Kinematic and dynamic analysis of a hyper-redundant robotic manipulator with experimental verification /
Inverse Kinematics Solutions (IKS) as well as control of hyper-redundant robots are being under investigation by the robotics researchers due to the flexibility of configurations in achieving the same goal. End effectors attached at the tip of such robot are capable of reaching targets avoiding obst...
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| Main Author: | |
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| Format: | Thesis |
| Language: | English |
| Published: |
Gombak, Selangor :
Kulliyyah of Engineering, International Islamic University Malaysia,
2010
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| Subjects: | |
| Online Access: | Click here to view 1st 24 pages of the thesis. Members can view fulltext at the specified PCs in the library. |
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| Summary: | Inverse Kinematics Solutions (IKS) as well as control of hyper-redundant robots are being under investigation by the robotics researchers due to the flexibility of configurations in achieving the same goal. End effectors attached at the tip of such robot are capable of reaching targets avoiding obstacles between the base of the robot and location of the target. Such robots can be programmed to continue operations successfully even after mechanical failure of few joints. However, it is very difficult to manage this flexibility due to the involvement of mathematical complexity in determining inverse kinematics of these robots, especially, handling of pseudo inverse of non-square matrices. Various techniques have so far been proposed by the researchers for inverse kinematics of hyper-redundant robots that involve wide range of mathematics including nonlinear optimization, Artificial Neural Network, Fuzzy Logic, etc. Most of these methods are often found to fail due to singular IKS. In this thesis a new technique has been proposed that assumes an initial configuration with a virtual layer. The virtual layer assumes an isosceles triangle formed of two subrobots each consisting of same number of links, and the imaginary line joining the location of the target and the base of the robot. Thus two sides of the isosceles triangle appear in singular configuration. In the successive steps the singularities are removed by first shifting the vertex towards the base of the triangle along the median of the triangle and then adjusting links on both subrobots to assume a coil shape. This ultimately leads to inverse kinematics of the hyper-redundant robot free from any singular configuration. Kinetics analyses are then done based on the IKS and appropriate actuators are selected accordingly. Total energy required to run the robot is found to depend on the selection of the point on the median line and is minimum corresponding to a point close to the base of the triangle. To verify the proposed IKS technique a laboratory scale four link prototype is built. Off-the-shelf servo motors are used as actuators in actuating the joints of the prototype. Results of the experiment show very good agreement with the analyses. Comparison of the proposed technique shows superiority over ANFIS, one of the recent techniques used for IKS of hyper-redundant robots. The proposed IKS technique and control approach is designed for planner robots with even number of links only. To make it generalized it needs to be studied for any number of links as well as robots in 3D space. |
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| Item Description: | "A dissertation submitted in fulfilment of the requirement for the degree of Master of Science (Mechatronics Engineering)."--On t.p. Abstract in English and Arabic. |
| Physical Description: | xix, 143 leaves : ill. ; 30 cm. |
| Bibliography: | Includes bibliographical references (leaves 121-127). |