Presenter(s)

    Tiangang Chen

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    Description

    Hyper redundant robots consist of many equal length rigid links connected by a large number of revolute joints. This significant number of joints gives the robot many degrees of freedom enabling it to function in highly constrained environments. This work introduces a methodology to solve the kinematics of a hyper redundant robot. Addressing the kinematics includes two issues. The first issue is to approximate a desired curve that specifies the configuration or shape of the robot. The second issue is to accurately position the tool at the end of the robot. These two issues are addressed by analyzing the desired curve describing the hyper redundant robot as piecewise linear similar to the analysis for generating target profiles in shape-changing mechanism theory. There are two advantages to this approach. First, the error will be small. Second, the speed of the calculation is fast.

    Publication Date

    4-22-2020

    Project Designation

    Independent Research

    Primary Advisor

    Andrew P. Murray, Dave Harry Myszka

    Primary Advisor's Department

    Mechanical and Aerospace Engineering

    Keywords

    Stander Symposium project, School of Engineering

    A Fast Algorithm for Solving the Kinematics of Hyper Redundant Robots

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