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https://hdl.handle.net/11499/47743
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DC Field | Value | Language |
---|---|---|
dc.contributor.author | Minnetoglu O. | - |
dc.contributor.author | Conkur E.S. | - |
dc.date.accessioned | 2023-01-09T21:29:51Z | - |
dc.date.available | 2023-01-09T21:29:51Z | - |
dc.date.issued | 2022 | - |
dc.identifier.issn | 2076-3417 | - |
dc.identifier.uri | https://doi.org/10.3390/app12178882 | - |
dc.identifier.uri | https://hdl.handle.net/11499/47743 | - |
dc.description.abstract | An effective path-planning algorithm in three-dimensional (3D) environments based on a geometric approach for redundant/hyper-redundant manipulators are presented in this paper. The method works within confined spaces cluttered with obstacles in real-time. Using potential fields in 3D, a middle path is generated for point robots. Beams are generated tangent to the path points, which constructs a basis for preparing a collision-free path for the manipulator. Then, employing a simply control strategy without interaction between the links, the motion planning is achieved by advancing the end-effector of the manipulator through narrow terrains while keeping each link’s joints on this path until the end-effector reaches the goal. The method is simple, robust and significantly increases maneuvering ability of the manipulator in 3D environments compared to existing methods as illustrated with examples. © 2022 by the authors. | en_US |
dc.language.iso | en | en_US |
dc.publisher | MDPI | en_US |
dc.relation.ispartof | Applied Sciences (Switzerland) | 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 | mobile robot | en_US |
dc.subject | motion planning | 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.subject | tight maneuvering | en_US |
dc.title | Tight Maneuvering for Path Planning of Hyper-Redundant Manipulators in Three-Dimensional Environments | en_US |
dc.type | Article | en_US |
dc.identifier.volume | 12 | en_US |
dc.identifier.issue | 17 | en_US |
dc.identifier.doi | 10.3390/app12178882 | - |
dc.relation.publicationcategory | Makale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanı | en_US |
dc.authorscopusid | 57888734300 | - |
dc.authorscopusid | 6602422168 | - |
dc.identifier.scopus | 2-s2.0-85137880195 | en_US |
dc.identifier.wos | WOS:000850977500001 | en_US |
dc.identifier.scopusquality | Q2 | - |
item.fulltext | With Fulltext | - |
item.grantfulltext | open | - |
item.languageiso639-1 | en | - |
item.openairetype | Article | - |
item.cerifentitytype | Publications | - |
item.openairecristype | http://purl.org/coar/resource_type/c_18cf | - |
crisitem.author.dept | 10.07. Mechanical 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 |
Files in This Item:
File | Size | Format | |
---|---|---|---|
Tight Maneuvering for Path Planning.pdf | 21.12 MB | Adobe PDF | View/Open |
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