Control of a multijoint manipulator "Moray arm"

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	Control of a multijoint manipulator "Moray arm"
	Ma SG(马书根); Kobayashi, I.; Hirose, S.; Yokoshima, K.
刊名	IEEE/ASME Transactions on Mechatronics
	2002
卷号	7 期号:3 页码:304-317
关键词	hyper-redundant manipulator Moray arm Moray drive control obstacle avoidance two-degrees-of-freedom (2-DOF) Moray drive control
ISSN号	1083-4435
产权排序	1
中文摘要	We introduce a multijoint manipulator that was named "Moray arm", which is a slider-integrating multijoint manipulator, where a powerful slider is installed at the base of the arm. The Moray arm emulates the motion of a Moray, thus, allowing it to easily enter a narrow space while avoiding obstacles. To elucidate the features of the Moray arm, we present new control methods named "Moray drive" and "two-degrees-of-freedom (2-DOF) Moray drive". The Moray drive control generates rotating motion of the joints in synchronization with linear motion of the slider while restricting the arm on the trajectory. The 2-DOF Moray drive control reduces the control problem of the hyper DOFs to the simple one of 2-DOFs: one of the control variables signifies the linear combination of the objective initial and final postures of the arm, while another expresses the amount of the pull-out-displacement when pulling the arm out of the housing. The properties of Moray arm controlled by Moray drive or 2-DOF Moray drive are described. Based on the 2-DOF Moray drive control, we also propose an obstacle avoidance scheme for the "Moray arm" to perform a pick-and-place task while avoiding the existing static obstacles in environment. The scheme is based on the posture space analysis and generates the obstacle collision-free trajectory in the posture space. From the simulation result, we conclude that the Moray arm controlled by the proposed schemes gives great possibility for the hyper-redundant manipulator to perform applications such as maintenance of nuclear reactors, collection of lumps of existing manganese under sea, and care of patients.
WOS标题词	Science & Technology ; Technology
类目[WOS]	Automation & Control Systems ; Engineering, Manufacturing ; Engineering, Electrical & Electronic ; Engineering, Mechanical
研究领域[WOS]	Automation & Control Systems ; Engineering
关键词[WOS]	REDUNDANT MANIPULATORS ; ROBOT ; CONFIGURATION
收录类别	SCI ; EI
语种	英语
WOS记录号	WOS:000178034400005
公开日期	2012-05-29
内容类型	期刊论文
源URL	[http://ir.sia.cn/handle/173321/7326]
专题	沈阳自动化研究所_机器人学研究室
推荐引用方式 GB/T 7714	Ma SG,Kobayashi, I.,Hirose, S.,et al. Control of a multijoint manipulator "Moray arm"[J]. IEEE/ASME Transactions on Mechatronics,2002,7(3):304-317.
APA	Ma SG,Kobayashi, I.,Hirose, S.,&Yokoshima, K..(2002).Control of a multijoint manipulator "Moray arm".IEEE/ASME Transactions on Mechatronics,7(3),304-317.
MLA	Ma SG,et al."Control of a multijoint manipulator "Moray arm"".IEEE/ASME Transactions on Mechatronics 7.3(2002):304-317.