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Alternate end effector contour tracking for hyper redundant robotic system | IEEE Conference Publication | IEEE Xplore

Alternate end effector contour tracking for hyper redundant robotic system


Abstract:

Snake like robot which belongs to a class of hyper redundant robot has great potential due to its ability to move into confined space. However, it is quite difficult to p...Show More

Abstract:

Snake like robot which belongs to a class of hyper redundant robot has great potential due to its ability to move into confined space. However, it is quite difficult to plan path for this large number degree of freedom of robotic system. Thus, snake like robot will be simplified into two degree of freedom (DOF) subsystem in order to execute the alternate end effector linear gait. This gait will show that the end effector (EF) and base will switch alternately from input to output link while implementing linear gait. This 2 DOF system can be assemble into infinite number of degree of freedom snake like robot. Next, in order to track contour into confined space, the drive transform that represent autonomous contour search using adapting gradient method which was planned at Cartesian Space will be developed in this work. Finally, inverse kinematic will be used to map Cartesian path into joint space trajectory as an input data for low level joint controllers of snake robot.
Date of Conference: 23-24 August 2016
Date Added to IEEE Xplore: 09 January 2017
ISBN Information:
Conference Location: Bangi, Malaysia

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