Model reduction methods for optimal follow-the-leader movements of binary actuated, hyper-redundant robots

Publikation: Beitrag in Buch/Bericht/Sammelwerk/KonferenzbandAufsatz in KonferenzbandForschungPeer-Review

Autoren

  • Svenja Tappe
  • Dairong Yu
  • Jens Kotlarski
  • Tobias Ortmaier

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Details

OriginalspracheEnglisch
Titel des SammelwerksProceedings of the 7th International Workshop on Computational Kinematics, 2017
Herausgeber/-innenSaid Zeghloul, Med Amine Laribi, Lotfi Romdhane
Herausgeber (Verlag)Springer Netherlands
Seiten35-43
Seitenumfang9
ISBN (Print)9783319608662
PublikationsstatusVeröffentlicht - 2018
Veranstaltung7th International Workshop on Computational Kinematics, CK 2017 - Futuroscope-Poitiers, Frankreich
Dauer: 22 Mai 201724 Mai 2017

Publikationsreihe

NameMechanisms and Machine Science
Band50
ISSN (Print)2211-0984
ISSN (elektronisch)2211-0992

Abstract

A hyper-redundant shaft concept based on unique binary, electromagnetic tilting actuators was proposed for various examination tasks of difficultly accessible areas. Its specific design combines two important aspects required in endoscopic applications: it provides good path following capabilities in combination with high resistance against manipulation forces due to its kinematics and its actuation principle. For endoscope-like exploration, a commonly known follow-the-leader idea is adapted to the binary actuation. It is an efficient and intuitive path planning algorithm promising high path following accuracy. However, classical follow-the-leader approaches are designed for continuously adjustable joints. Hence, their applicability to binary actuated systems is limited. To achieve good path following capabilities optimal switching sequences during forward motion are necessary, resulting in a high computational effort. Therefore, this paper aims to analyze occurring deviations with respect to kinematic relations and proposes based on these results reduced models, i.e. simplified cost functions, for an efficient calculation of optimized switching sequences.

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Model reduction methods for optimal follow-the-leader movements of binary actuated, hyper-redundant robots. / Tappe, Svenja; Yu, Dairong; Kotlarski, Jens et al.
Proceedings of the 7th International Workshop on Computational Kinematics, 2017. Hrsg. / Said Zeghloul; Med Amine Laribi; Lotfi Romdhane. Springer Netherlands, 2018. S. 35-43 (Mechanisms and Machine Science; Band 50).

Publikation: Beitrag in Buch/Bericht/Sammelwerk/KonferenzbandAufsatz in KonferenzbandForschungPeer-Review

Tappe, S, Yu, D, Kotlarski, J & Ortmaier, T 2018, Model reduction methods for optimal follow-the-leader movements of binary actuated, hyper-redundant robots. in S Zeghloul, MA Laribi & L Romdhane (Hrsg.), Proceedings of the 7th International Workshop on Computational Kinematics, 2017. Mechanisms and Machine Science, Bd. 50, Springer Netherlands, S. 35-43, 7th International Workshop on Computational Kinematics, CK 2017, Futuroscope-Poitiers, Frankreich, 22 Mai 2017. https://doi.org/10.1007/978-3-319-60867-9_5
Tappe, S., Yu, D., Kotlarski, J., & Ortmaier, T. (2018). Model reduction methods for optimal follow-the-leader movements of binary actuated, hyper-redundant robots. In S. Zeghloul, M. A. Laribi, & L. Romdhane (Hrsg.), Proceedings of the 7th International Workshop on Computational Kinematics, 2017 (S. 35-43). (Mechanisms and Machine Science; Band 50). Springer Netherlands. https://doi.org/10.1007/978-3-319-60867-9_5
Tappe S, Yu D, Kotlarski J, Ortmaier T. Model reduction methods for optimal follow-the-leader movements of binary actuated, hyper-redundant robots. in Zeghloul S, Laribi MA, Romdhane L, Hrsg., Proceedings of the 7th International Workshop on Computational Kinematics, 2017. Springer Netherlands. 2018. S. 35-43. (Mechanisms and Machine Science). doi: 10.1007/978-3-319-60867-9_5
Tappe, Svenja ; Yu, Dairong ; Kotlarski, Jens et al. / Model reduction methods for optimal follow-the-leader movements of binary actuated, hyper-redundant robots. Proceedings of the 7th International Workshop on Computational Kinematics, 2017. Hrsg. / Said Zeghloul ; Med Amine Laribi ; Lotfi Romdhane. Springer Netherlands, 2018. S. 35-43 (Mechanisms and Machine Science).
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title = "Model reduction methods for optimal follow-the-leader movements of binary actuated, hyper-redundant robots",
abstract = "A hyper-redundant shaft concept based on unique binary, electromagnetic tilting actuators was proposed for various examination tasks of difficultly accessible areas. Its specific design combines two important aspects required in endoscopic applications: it provides good path following capabilities in combination with high resistance against manipulation forces due to its kinematics and its actuation principle. For endoscope-like exploration, a commonly known follow-the-leader idea is adapted to the binary actuation. It is an efficient and intuitive path planning algorithm promising high path following accuracy. However, classical follow-the-leader approaches are designed for continuously adjustable joints. Hence, their applicability to binary actuated systems is limited. To achieve good path following capabilities optimal switching sequences during forward motion are necessary, resulting in a high computational effort. Therefore, this paper aims to analyze occurring deviations with respect to kinematic relations and proposes based on these results reduced models, i.e. simplified cost functions, for an efficient calculation of optimized switching sequences.",
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AU - Ortmaier, Tobias

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