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

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