Details
| Original language | English |
|---|---|
| Title of host publication | Proceedings of the 7th International Workshop on Computational Kinematics, 2017 |
| Editors | Said Zeghloul, Med Amine Laribi, Lotfi Romdhane |
| Publisher | Springer Netherlands |
| Pages | 35-43 |
| Number of pages | 9 |
| ISBN (print) | 9783319608662 |
| Publication status | Published - 2018 |
| Event | 7th International Workshop on Computational Kinematics, CK 2017 - Futuroscope-Poitiers, France Duration: 22 May 2017 → 24 May 2017 |
Publication series
| Name | Mechanisms and Machine Science |
|---|---|
| Volume | 50 |
| ISSN (Print) | 2211-0984 |
| ISSN (electronic) | 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.
Keywords
- Binary actuation, Hyper-redundant robot, Motion planning Follow-the-leader
ASJC Scopus subject areas
- Engineering(all)
- Mechanics of Materials
- Engineering(all)
- Mechanical Engineering
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Proceedings of the 7th International Workshop on Computational Kinematics, 2017. ed. / Said Zeghloul; Med Amine Laribi; Lotfi Romdhane. Springer Netherlands, 2018. p. 35-43 (Mechanisms and Machine Science; Vol. 50).
Research output: Chapter in book/report/conference proceeding › Conference contribution › Research › peer review
}
TY - GEN
T1 - Model reduction methods for optimal follow-the-leader movements of binary actuated, hyper-redundant robots
AU - Tappe, Svenja
AU - Yu, Dairong
AU - Kotlarski, Jens
AU - Ortmaier, Tobias
PY - 2018
Y1 - 2018
N2 - 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.
AB - 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.
KW - Binary actuation
KW - Hyper-redundant robot
KW - Motion planning Follow-the-leader
UR - http://www.scopus.com/inward/record.url?scp=85026325982&partnerID=8YFLogxK
U2 - 10.1007/978-3-319-60867-9_5
DO - 10.1007/978-3-319-60867-9_5
M3 - Conference contribution
AN - SCOPUS:85026325982
SN - 9783319608662
T3 - Mechanisms and Machine Science
SP - 35
EP - 43
BT - Proceedings of the 7th International Workshop on Computational Kinematics, 2017
A2 - Zeghloul, Said
A2 - Laribi, Med Amine
A2 - Romdhane, Lotfi
PB - Springer Netherlands
T2 - 7th International Workshop on Computational Kinematics, CK 2017
Y2 - 22 May 2017 through 24 May 2017
ER -