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    Motion-Planning Algorithm for a Hyper-Redundant Manipulator in Narrow Spaces

    Lei Zhang1,2,*, Shouzhi Huang1,2, Zhaocai Du3, Guangyao Ouyang1,2, Heping Chen4

    CMC-Computers, Materials & Continua, Vol.72, No.3, pp. 4817-4832, 2022, DOI:10.32604/cmc.2022.026845

    Abstract In this study, a hyper-redundant manipulator was designed for detection and searching in narrow spaces for aerospace and earthquake rescue applications. A forward kinematics equation for the hyper-redundant manipulator was derived using the homogeneous coordinate transformation method. Based on the modal function backbone curve method and the known path, an improved modal method for the backbone curves was proposed. First, the configuration of the backbone curve for the hyper-redundant manipulator was divided into two parts: a mode function curve segment of the mode function and a known path segment. By changing the discrete points along the known path, the backbone… More >

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