A DESIGN AND BIO-INSPIRED CONTROL OF A NOVEL REDUNDANT MANIPULATOR WITH M-DOFS LINKS

Hak Yi and Reza Langari

Keywords

Redundant manipulator, joint limit avoidance, biologicallyinspired control, learning and adaptive systems

Abstract

In constrained workspaces, a serial manipulator with fixed length links has restricted motion for performing the required tasks. To overcome this, we suggest a novel redundant manipulator with multiple 3-degree of freedoms links capable of elongating by a maximum 25% of their nominal lengths. The joint limit avoidance approach is used as the redundancy resolution scheme. A bio-inspired closed-loop inverse kinematic algorithm based on brain limbic system is proposed to remove tracking errors. The results of the proposed method show that the proposed manipulator has a relatively efficient reachable workspace in constrained environments, compared to a serpentine 6-DOFs robotic manipulator of the same length links.

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