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https://hdl.handle.net/11499/37353
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DC Field | Value | Language |
---|---|---|
dc.contributor.author | Bulut, Yalçın | - |
dc.contributor.author | Çonkur, Erdinç Şahin | - |
dc.date.accessioned | 2021-02-02T09:25:23Z | |
dc.date.available | 2021-02-02T09:25:23Z | |
dc.date.issued | 2020 | - |
dc.identifier.issn | 2215-0986 | - |
dc.identifier.uri | https://hdl.handle.net/11499/37353 | - |
dc.identifier.uri | https://doi.org/10.1016/j.jestch.2020.07.002 | - |
dc.description.abstract | This paper presents a simple, effective and robust geometrical approach for path-planning of redundant/hyper-redundant manipulators in real-time within confined spaces cluttered with obstacles. A discretized path for point robots to the goal gives all the information for navigation of the manipulator. As long as it is physically possible, the employment of maneuvering space is maximized by making the links almost pinch the walls of the convoluted terrain. The maneuvering ability of the method fully utilizing maneuvering space is far beyond those of others proposed in the literature. The exemplary computer simulations verify the effectiveness of the method. © 2020 Karabuk University | en_US |
dc.language.iso | en | en_US |
dc.publisher | Elsevier B.V. | en_US |
dc.relation.ispartof | Engineering Science and Technology, an International Journal | en_US |
dc.rights | info:eu-repo/semantics/openAccess | en_US |
dc.subject | Confined spaces | en_US |
dc.subject | Hyper redundant manipulator | en_US |
dc.subject | Obstacle avoidance | en_US |
dc.subject | Path-planning | en_US |
dc.subject | Redundant robot | en_US |
dc.subject | Snake robot | en_US |
dc.title | A real-time path-planning algorithm with extremely tight maneuvering capabilities for hyper-redundant manipulators | en_US |
dc.type | test | en_US |
dc.identifier.doi | 10.1016/j.jestch.2020.07.002 | - |
dc.relation.publicationcategory | Makale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanı | en_US |
dc.identifier.scopus | 2-s2.0-85088236772 | en_US |
dc.identifier.wos | WOS:000615175400008 | en_US |
dc.identifier.scopusquality | Q1 | - |
dc.owner | Pamukkale University | - |
item.grantfulltext | open | - |
item.openairetype | test | - |
item.languageiso639-1 | en | - |
item.fulltext | With Fulltext | - |
item.cerifentitytype | Publications | - |
item.openairecristype | http://purl.org/coar/resource_type/c_18cf | - |
crisitem.author.dept | 20.01. Automotive Engineering | - |
crisitem.author.dept | 10.07. Mechanical Engineering | - |
Appears in Collections: | Mühendislik Fakültesi Koleksiyonu Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collection WoS İndeksli Yayınlar Koleksiyonu / WoS Indexed Publications Collection |
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File | Size | Format | |
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1-s2.0-S2215098620301798-main.pdf | 7.67 MB | Adobe PDF | View/Open |
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