TY - JOUR
T1 - Real-time method for tip following navigation of continuum snake arm robots
AU - Palmer, David
AU - Cobos-Guzman, Salvador
AU - Axinte, Dragos
N1 - Funding Information:
With thanks to the work by Dr. Mark Raffles and Xin Dong for the design and construction of the snake arm shown. The research leading to these results has received funding from the European Union Seventh Framework Programme (FP72011) under grant agreement no. 284959 (MiRoR: http://www.miror.eu/ ) and Rolls-Royce Plc.
PY - 2014/10
Y1 - 2014/10
N2 - This paper presents a novel technique for the navigation of a snake arm robot, for real-time inspections in complex and constrained environments. These kinds of manipulators rely on redundancy, making the inverse kinematics very difficult. Therefore, a tip following method is proposed using the sequential quadratic programming optimization approach to navigate the robot. This optimization is used to minimize a set of changes to the arrangement of the snake arm that lets the algorithm follow the desired trajectory with minimal error. The information of the Snake Arm pose is used to limit deviations from the path taken. Therefore, the main objective is to find an efficient objective function that allows uninterrupted movements in real-time. The method proposed is validated through an extensive set of simulations of common arrangements and poses for the snake arm robot. For a 24 DoF robot, the average computation time is 0.4 s, achieving a speed of 4.5 mm/s, with deviation of no more than 25 mm from the ideal path.
AB - This paper presents a novel technique for the navigation of a snake arm robot, for real-time inspections in complex and constrained environments. These kinds of manipulators rely on redundancy, making the inverse kinematics very difficult. Therefore, a tip following method is proposed using the sequential quadratic programming optimization approach to navigate the robot. This optimization is used to minimize a set of changes to the arrangement of the snake arm that lets the algorithm follow the desired trajectory with minimal error. The information of the Snake Arm pose is used to limit deviations from the path taken. Therefore, the main objective is to find an efficient objective function that allows uninterrupted movements in real-time. The method proposed is validated through an extensive set of simulations of common arrangements and poses for the snake arm robot. For a 24 DoF robot, the average computation time is 0.4 s, achieving a speed of 4.5 mm/s, with deviation of no more than 25 mm from the ideal path.
KW - Hyper-redundant manipulator
KW - Optimization
KW - Snake arm
KW - Tip following
UR - http://www.scopus.com/inward/record.url?scp=84906303865&partnerID=8YFLogxK
U2 - 10.1016/j.robot.2014.05.013
DO - 10.1016/j.robot.2014.05.013
M3 - Article
AN - SCOPUS:84906303865
SN - 0921-8890
VL - 62
SP - 1478
EP - 1485
JO - Robotics and Autonomous Systems
JF - Robotics and Autonomous Systems
IS - 10
ER -