Shape control of a hyper-redundant arm for planar object manipulation
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Publication Details
Author list: Jareanpon C., Maneewongvatana S., Maneewarn T.
Publication year: 2011
Volume number: 25
Issue number: #
Start page: 1159
End page: 1181
Number of pages: 23
ISSN: 0169-1864
eISSN: 0169-1864
Languages: English-Great Britain (EN-GB)
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Abstract
This paper discusses a method for controlling a hyper-redundant arm to manipulate an object on a plane. The hyper-redundant arm can perform simple whole-arm manipulation by coiling or wrapping around the object and then pulling the object toward the goal position. The process of object manipulation can be separated into two steps: encircling the object and transporting the object. In the process of encircling the object, the arm is controlled by a set of virtual constraints that guide the arm to reach around the object and encircle it, keeping the arm within a specified bound to ensure the circular shape around the object. In the process of transporting the object, a simplified desired shape is generated from a B้zier curve according to a given goal position and the arm geometry. Then, the gradient descent method is used to update the joint angles of the arm at each step to move the arm toward the desired shape until the object reaches its target position. The proposed method has been tested in both simulation and real experiments. ฉ 2011 Koninklijke Brill NV, Leiden.
Keywords
Hyper-redundant robot, non-prehensile grasp, shape control, virtual constraint
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