A dynamically efficient manipulator for hyper-redundant robotic arms

Graduate Thesis uoadl:1324183 423 Read counter

Unit:
Τομέας Υπολογιστικών Συστημάτων και Εφαρμογών
Library of the School of Science
Deposit date:
2015-09-01
Year:
2015
Author:
Ξανθίδης Μάριος
Supervisors info:
Σέργιος Θεοδωρίδης
Original Title:
Δυναμικά αποδοτική προσέγγιση ελεγκτή υπερ-περιττού ρομποτικού βραχίονα
Languages:
Greek
Translated title:
A dynamically efficient manipulator for hyper-redundant robotic arms
Summary:
The subject of this thesis is the efficient manipulation of hyper-redundant
arms, which have many degrees of freedom but also more computational needs than
the conventional. In this thesis we think that in the average case for an
average task the arm is really unlikely to need to use all of its DoFs, so we
introduce a fully dynamically model by splitting the arm into sectors with the
ability to move in the 3d space without using all of its DoFs. We propose a
method to solve dynamically the direct and inverse kinematics problem in
respect to our model. Also we introduce the new concept of the transcontroler
who is controling the dynamic kinematic structure of the arm and the
transitions from one to another. The transcontroller not only can be used to
apply many policies which aim in the efficiency but also it can be used to
develop preventive policies in case of some damaged links. In conclusion we
applied a policy, using MATLAB, and we showed how much more efficient is our
modeling, which in the worst case it is as efficient as the classic method.
Keywords:
hyper-redundant arm, dynamically efficient manipulator, robotic tentacle, robotic trunk, transcontroller
Index:
Yes
Number of index pages:
6-7
Contains images:
Yes
Number of references:
2
Number of pages:
78
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