A Review on Kinematic, Workspace, Trajectory Planning and Path Planning of Hyper-Redundant manipulators

With high flexibility and maneuverability, Hyper-redundant manipulators can work in a narrow space, and have great application potential in the complex space of aerospace, aviation and nuclear power equipment. This paper summarizes the definition, type, kinematics method, workspace calculation metho...

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Bibliographic Details
Published in2020 10th Institute of Electrical and Electronics Engineers International Conference on Cyber Technology in Automation, Control, and Intelligent Systems (CYBER) pp. 444 - 449
Main Authors Du, Zhao-cai, Ouyang, Guang-Yao, Xue, Jun, Yao, Yan-bin
Format Conference Proceeding
LanguageEnglish
Published IEEE 10.10.2020
Subjects
Automation
Conferences
Control systems
Hyper-redundant manipulators
Intelligent systems
Iron
Kinematics
Manipulators
path planning algorithm
trajectory planning
workspace
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Summary:With high flexibility and maneuverability, Hyper-redundant manipulators can work in a narrow space, and have great application potential in the complex space of aerospace, aviation and nuclear power equipment. This paper summarizes the definition, type, kinematics method, workspace calculation method, trajectory planning and obstacle avoidance path planning algorithm of Hyper-redundant manipulators. The purpose of this paper is to build a bridge between academic researchers and the current situation of Hyper-redundant manipulators, and enumerate the main algorithms of kinematics solution, workspace calculation, trajectory planning and obstacle avoidance path planning of ultra redundant robots in the past decade. Finally, the technical problems and future work of Hyper-redundant manipulator are discussed.
DOI:10.1109/CYBER50695.2020.9279171