A nine-degree-of-freedom modular redundant robotic manipulator: Development and experimentation

doi:10.1177/09544062221139968

CORC > 长春光学精密机械与物理研究所 > 中国科学院长春光学精密机械与物理研究所

	A nine-degree-of-freedom modular redundant robotic manipulator: Development and experimentation
	H. Sai; Y. H. Li; S. He; E. Y. Zhang; M. C. Zhu and Z. B. Xu
刊名	Proceedings of the Institution of Mechanical Engineers Part C-Journal of Mechanical Engineering Science
	2022
页码	11
ISSN号	0954-4062
DOI	10.1177/09544062221139968
英文摘要	Performing interactive tasks in complex obstacle environments is a formidable challenge for manipulators. Redundant manipulators have the advantage of being highly flexible and can be used to perform interactive tasks in complex environments. This paper presents a nine-degree-of-freedom (DOF) modular redundant manipulator with nine identical modular joints. To improve the obstacle avoidance capability in narrow environments, the bidirectional rapidly-exploring random trees (bi-RRT) algorithm and the oriented bounding box (OBB) are combined for trajectory planning of redundant robotic manipulators. To enhance the interaction capability in uncalibrated dynamic environments, an improved virtual semi-active damping control (VSADC) algorithm based on particle swarm optimization (PSO) is proposed, and it can effectively estimate impedance parameters and positions of the dynamic environment. Finally, combined with the proposed control schemes, simulation and experimental results demonstrate that the designed redundant manipulator can traverse complex obstacle environments and interact with the unknown dynamic environment.
URL标识	查看原文
语种	英语
内容类型	期刊论文
源URL	[http://ir.ciomp.ac.cn/handle/181722/66907]
专题	中国科学院长春光学精密机械与物理研究所
推荐引用方式 GB/T 7714	H. Sai,Y. H. Li,S. He,et al. A nine-degree-of-freedom modular redundant robotic manipulator: Development and experimentation[J]. Proceedings of the Institution of Mechanical Engineers Part C-Journal of Mechanical Engineering Science,2022:11.
APA	H. Sai,Y. H. Li,S. He,E. Y. Zhang,&M. C. Zhu and Z. B. Xu.(2022).A nine-degree-of-freedom modular redundant robotic manipulator: Development and experimentation.Proceedings of the Institution of Mechanical Engineers Part C-Journal of Mechanical Engineering Science,11.
MLA	H. Sai,et al."A nine-degree-of-freedom modular redundant robotic manipulator: Development and experimentation".Proceedings of the Institution of Mechanical Engineers Part C-Journal of Mechanical Engineering Science (2022):11.