Please use this identifier to cite or link to this item:
https://hdl.handle.net/11499/47743
Title: | Tight Maneuvering for Path Planning of Hyper-Redundant Manipulators in Three-Dimensional Environments | Authors: | Minnetoglu O. Conkur E.S. |
Keywords: | confined spaces hyper-redundant manipulator mobile robot motion planning obstacle avoidance path-planning redundant robot snake robot tight maneuvering |
Publisher: | MDPI | 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. | URI: | https://doi.org/10.3390/app12178882 https://hdl.handle.net/11499/47743 |
ISSN: | 2076-3417 |
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 | |
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Tight Maneuvering for Path Planning.pdf | 21.12 MB | Adobe PDF | View/Open |
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