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  • Open Access


    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 >

  • Open Access


    Research on Trajectory Tracking Method of Redundant Manipulator Based on PSO Algorithm Optimization

    Shifu Xu*, Yanan Jiang

    CMES-Computer Modeling in Engineering & Sciences, Vol.125, No.1, pp. 401-415, 2020, DOI:10.32604/cmes.2020.09608

    Abstract Aiming at the problem that the trajectory tracking performance of redundant manipulator corresponding to the target position is difficult to optimize, the trajectory tracking method of redundant manipulator based on PSO algorithm optimization is studied. The kinematic diagram of redundant manipulator is created, to derive the equation of motion trajectory of redundant manipulator end. Pseudo inverse Jacobi matrix is used to solve the problem of manipulator redundancy. Based on the tracking ellipse of redundant manipulator, the tracking shape of redundant manipulator is determined with the overall tracking index as the second index, and the optimization method of tracking index is… More >

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