Abstract
A hyper-redundant manipulator has high flexibility and adaptability to conduct exploration or maintenance in a narrow space due to its many degrees of freedom(DOFs). However, the hyper-redundancy of its DOFs brings challenges to motion control. In this paper, a spatial path following method is proposed for motion control of hyper-redundant manipulators. We first generate the desired path through polynomial interpolation using known waypoints. Then, the target positions of the joints are searched according to the distance the base moves forward. All joint coordinates are projected onto two orthogonal planes. The angle change of pitch and yaw can be calculated simply in projection planes with current points and target points. Simulations are performed on a 17-DOF snake-like robot, including moving along different expected paths. Results indicate that the proposed method can solve spatial path-following problems with efficiency and accuracy. It can also be applied to control the motion of other hyper-redundant manipulators with similar structures.
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