Hostname: page-component-cd9895bd7-jkksz Total loading time: 0 Render date: 2024-12-25T04:55:07.489Z Has data issue: false hasContentIssue false
  • English
  • Français

An iterative algorithm for inverse displacement analysis of Hyper-redundant elephant’s trunk robot

Published online by Cambridge University Press:  28 March 2022

Feifei Yuan ,
Yongjie Zhao Open the ORCID record for Yongjie Zhao [Opens in a new window] ,
Yongxing Zhang ,
Xingwei Zhang  and
Xinjian Lu
Feifei Yuan
Affiliation:
Department of Mechatronics Engineering, Shantou University, Shantou 515063, China
Yongjie Zhao*
Affiliation:
Department of Mechatronics Engineering, Shantou University, Shantou 515063, China
Yongxing Zhang
Affiliation:
Department of Mechatronics Engineering, Shantou University, Shantou 515063, China
Xingwei Zhang
Affiliation:
Department of Mechatronics Engineering, Shantou University, Shantou 515063, China
Xinjian Lu
Affiliation:
Guangdong Goldenwork Robot Technology Ltd, Foshan 528000, China
*
*Corresponding author. Email: [email protected]
Get access Rights & Permissions [Opens in a new window]

Abstract

This paper proposes an iterative algorithm to solve the inverse displacement for a hyper-redundant elephant’s trunk robot (HRETR). In this algorithm, each parallel module is regarded as a geometric line segment and point model. According to the forward approximation and inverse pose adjustment principles, the iteration process can be divided into forward and backward iteration. This iterative algorithm transforms the inverse displacement problem of the HRETR into the parallel module’s inverse displacement problem. Considering the mechanical joint constraints, multiple iterations are carried out to ensure that the robot satisfies the required position error. Simulation results show that the algorithm is effective in solving the inverse displacement problem of HRETR.

Keywords

hyper-redundant elephant’s trunk robothybrid mechanismjoint constraintinverse displacementiterative algorithm
Type
Research Article
Information
Robotica , Volume 40 , Issue 10 , October 2022 , pp. 3539 - 3556
Copyright
© The Author(s), 2022. Published by Cambridge University Press

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

Kelasidi, E., Liljebäck, P., Pettersen, K. Y. and Gravdahl, J. T., “Integral line-of-sight guidance for path following control of underwater snake robots: theory and experiments,” IEEE Trans. Robot. 33(3), 610–628 (2017).CrossRefGoogle Scholar
Yamada, H. and Hirose, S., “Study of a 2-DOF Joint for the Small Active Cord Mechanism,” In: Proceedings of the IEEE International Conference on Robotics and Automation, Kobe, Japan (2009) pp. 3827–3832.Google Scholar
Gao, Q. J., Wang, W. J., Niu, G. C., Wang, L. and Zheng, Z. C., “Study of bionic structure and kinematics of robot for aircraft fuel tank inspection,” Acta Aeronaut. ET Astronaut. Sinica 34(7), 1748–1756 (2013).Google Scholar
Buckingham, R. and Graham, A., “Snaking around in a nuclear jungle,” Ind Robot: An Int. J. 32(2), 120–127 (2005).10.1108/01439910510582246CrossRefGoogle Scholar
Bogue, R., “Robots in the nuclear industry: A review of technologies and applications,” Ind Robot An Int. J. 38(2), 113–118 (2011).10.1108/01439911111106327CrossRefGoogle Scholar
Hu, H. Y., Wang, P. F., Zhao, B., Li, M. T. and Sun, L. N., “Design of a Novel Snake-Like Robotic Colonoscope,” In: Proceedings of the IEEE International Conference on Robotics and Biomimetics, Guilin, China (2009) pp. 1957–1961.Google Scholar
Zhao, Y. J., “Dimensional synthesis of a three translational degrees of freedom parallel robot while considering kinematic anisotropic property,” Rob. Comput.-Integr. Manuf. 29(1), 169–179 (2013).Google Scholar
Liu, X. J., Jin, Z. L. and Gao, F., “Optimum design of 3-DOF spherical parallel manipulators with respect to the conditioning and stiffness indices,” Mech. Mach. Theory 35(9), 1257–1267 (2000).CrossRefGoogle Scholar
Bai, S. P., “Optimum design of spherical parallel manipulators for a prescribed workspace,” Mech Mach. Theory 45(2), 200–211 (2010).CrossRefGoogle Scholar
Zhang, K. T., Qiu, C. and Dai, J. S., “An extensible continuum robot with integrated origami parallel modules,” ASME J. Mech. Robot. 8(3), 031010–1–031010–35 (2015).Google Scholar
Trivedi, D., Rahn, C. D., Kier, W. M. and Walker, I. D., “Soft robotics: Biological inspiration, state of the art, and future research,” Appl. Bionics Biomech. 5(3), 99–117 (2008).Google Scholar
Hamidi, A., Almubarak, Y. and Tadesse, Y., “Multidirectional 3D-printed functionally graded modular joint actuated by TCPFL muscles for soft robots,” Bio.-Des. Manuf. 2(4), 256–268 (2019).Google Scholar
Salomon, O. and Wolf, A., “Inclined links hyper-redundant elephant trunk-like robot,” ASME J. Mech. Robot. 4(4), 045001–1–045001–6 (2012).10.1115/1.4007203CrossRefGoogle Scholar
Xie, O., Zhu, Q. X., Shen, L. and Ren, K., “Kinematic study on a self-propelled bionic underwater robot with undulation and jet propulsion modes,” Robotica 36(11), 1613–1626 (2018).CrossRefGoogle Scholar
Komura, H., Yamada, H. and Hirose, S., “Development of snake-like robot ACM-R8 with large and mono-tread wheel,” Adv. Robot. 29(17), 1081–1094 (2015).CrossRefGoogle Scholar
Aristidou, A. and Lasenby, J., Inverse Kinematics: A Review of Existing Techniques and Introduction of a New Fast Iterative Solver, Cambridge University Department of Engineering, CUED. Tech. Rep. F-INFENG/TR. Vol. 632 (2009).Google Scholar
Tchoń, K. and Janiak, M., “Repeatable approximation of the Jacobian pseudo-inverse,” Syst. Control Lett. 58(12), 849–856 (2009).CrossRefGoogle Scholar
Moosavian, S. A. A. and Papadopoulos, E., “Modified transpose Jacobian control of robotic systems,” Automatica 43(7), 1226–1233 (2007).10.1016/j.automatica.2006.12.029CrossRefGoogle Scholar
Colomé, A. and Torras, C., “Closed-loop inverse kinematics for redundant robots: Comparative assessment and two enhancements,” IEEE/ASME Trans. Mechatron. 20(2), 944–955 (2015).CrossRefGoogle Scholar
Xu, W. F., Zhang, J. T., Liang, B. and Li, B., “Singularity analysis and avoidance for robot manipulators with nonspherical wrists,” IEEE Trans. Ind. Electron. 63(1), 277–290 (2016).CrossRefGoogle Scholar
Wampler, C. W., “Manipulator inverse kinematic solutions based on vector formulations and damped least-squares methods,” IEEE Trans. Syst., Man Cybern. Syst. 16(1), 93–101 (1986).CrossRefGoogle Scholar
Chirikjian, G. S. and Burdick, J. W., “A geometric approach to hyper-redundant manipulator obstacle avoidance,” ASME J. Mech. Des. 114(4), 580–585 (1992).CrossRefGoogle Scholar
Chirikjian, G. S. and Burdick, J. W., “A modal approach to hyper-redundant manipulator kinematics,” IEEE Trans. Robot. Automat. 10(3), 343–354 (1994).CrossRefGoogle Scholar
Kim, J. S. and Chirikjian, G. S., “Inverse kinematic solutions of 6-D.O.F. biopolymer segments,” Robotica 34(8), 1734–1753 (2016).10.1017/S0263574716000138CrossRefGoogle Scholar
Kohli, D. and Osvatic, M., “Inverse kinematics of general 6R and 5R, P serial manipulators,” ASME J. Mech. Des. 115(4), 922–931 (1993).CrossRefGoogle Scholar
Zhao, Y. J., Jin, L., Zhang, P. and Li, J. Y., “Inverse displacement analysis of a hyper-redundant elephant’s trunk robot,” J. Bionic Eng. 15(2), 397–407 (2018).CrossRefGoogle Scholar
Wang, L.-C. T. and Chen, C. C., “A combined optimization method for solving the inverse kinematics problems of mechanical manipulators,” IEEE Trans. Robot. Automat. 7(4), 489–499 (1991).CrossRefGoogle Scholar
Xiong, Z. L., Tao, J. F. and Liu, C. L., “Inverse kinematics of hyper-redundant snake-arm robots with improved tip following movement,” Jiqiren/Robot 40(1), 37–45 (2018).Google Scholar
Aristidou, A. and Lasenby, J., “FABRIK: A fast, iterative solver for the inverse kinematics problem,” Graph Models 73(5), 243–260 (2011).CrossRefGoogle Scholar
Aristidou, A., Chrysanthou, Y. and Lasenby, J., “Extending FABRIK with model constraints,” Comput. Animat. Virtual Worlds 27(1), 35–57 (2016).CrossRefGoogle Scholar
Ananthanarayanan, H. and Ordóñez, R., “Real-time inverse kinematics of (2n+1) DOF hyper-redundant manipulator arm via a combined numerical and analytical approach,” Mech. Mach. Theory 91(4), 209–226 (2015).CrossRefGoogle Scholar
Neppalli, S., Csencsits, M. A., Jones, B. A. and Walker, I. D., “Closed-form inverse kinematics for continuum manipulators,” Adv. Robot. 23(15), 2077–2091 (2009).CrossRefGoogle Scholar
Neppalli, S., Csencsits, M. A., Jones, B. A. and Walker, I. D., “A Geometrical Approach to Inverse Kinematics for Continuum Manipulators,” In: IEEE/RSJ International Conference on Intelligent Robots and Systems, Nice, France (2008) pp. 3565–3570.Google Scholar
Kaganov, Y. T. and Karpenko, A. P., “Multiagent Approach to Control a Multisection Trunk-Type Manipulator,” In: Smart Electromechanical Systems: The central nervous system, Series Studies in Systems, Decision and Control (Springer International Publishing AG, 2017) pp. 203–212.Google Scholar
Husty, M., Birlescu, I., Tucan, P., Vaida, C. and Pisla, D., “An algebraic parameterization approach for parallel robots analysis,” Mech. Mach. Theory 140(2), 245–257 (2019).CrossRefGoogle Scholar
Saglia, J. A., Dai, J. S. and Caldwell, D. G., “Geometry and kinematic analysis of a redundantly actuated parallel mechanism that eliminates singularities and improves dexterity,” ASME J. Mech. Des. 130(12), 124501–1–124501–5 (2008).CrossRefGoogle Scholar
Gan, D., Dai, J. S., Dias, J. and Seneviratne, L., “Forward kinematics solution distribution and analytic singularity-free workspace of linear-actuated symmetrical spherical parallel manipulators,” ASME J. Mech. Robot. 7(4), 041007–1–041007–8 (2015).10.1115/1.4029808CrossRefGoogle Scholar
Zhao, Y. J., Song, X. G., Zhang, X. W. and Lu, X. J., “A hyper-redundant elephant’s trunk robot with an open structure: Design, kinematics, control and prototype,” Chin J. Mech. Eng. 33(1), 96 (2020).CrossRefGoogle Scholar