Shape Sensing of Hyper-Redundant Robots Using an AHRS IMU Sensor Network.

Ciprian Lapusan,Ciprian Rad,Olimpiu Hancu

doi:10.3390/s22010373

Ciprian Lapusan, Ciprian Rad + Show 1 more

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https://doi.org/10.3390/s22010373

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Abstract

The paper proposes a novel approach for shape sensing of hyper-redundant robots based on an AHRS IMU sensor network embedded into the structure of the robot. The proposed approach uses the data from the sensor network to directly calculate the kinematic parameters of the robot in modules operational space reducing thus the computational time and facilitating implementation of advanced real-time feedback system for shape sensing. In the paper the method is applied for shape sensing and pose estimation of an articulated joint-based hyper-redundant robot with identical 2-DoF modules serially connected. Using a testing method based on HIL techniques the authors validate the computed kinematic model and the computed shape of the robot prototype. A second testing method is used to validate the end effector pose using an external sensory system. The experimental results obtained demonstrate the feasibility of using this type of sensor network and the effectiveness of the proposed shape sensing approach for hyper-redundant robots.

Highlights

Hyper redundant robots are characterized by the ability to execute complex movements in workspaces with obstacles due to the large number of Degrees of Freedom (DoF).Usually, the number of DoF that characterized such a robot is >>6, typically above 12-DoF.As a result, the robot has the possibility to reach a certain position in the workspace in an almost infinite number of configurations for the joints values [1].These advantages make this type of robots very appealing in certain fields where a high degree of flexibility and adaptability is required during the operations
The Output Data calculated by using the proposed shape sensing algorithm that runs on Discovery board are analyzed and compared with the ones obtained from the virtual robot that runs on the dSPACE platform
The paper presented a new approach for shape sensing of a hyper redundant robot with articulated joint-based rigid structure

Summary

Introduction

Hyper redundant robots are characterized by the ability to execute complex movements in workspaces with obstacles due to the large number of Degrees of Freedom (DoF).Usually, the number of DoF that characterized such a robot is >>6, typically above 12-DoF.As a result, the robot has the possibility to reach a certain position in the workspace in an almost infinite number of configurations for the joints values [1].These advantages make this type of robots very appealing in certain fields where a high degree of flexibility and adaptability is required during the operations. Hyper redundant robots are characterized by the ability to execute complex movements in workspaces with obstacles due to the large number of Degrees of Freedom (DoF). The robot has the possibility to reach a certain position in the workspace in an almost infinite number of configurations for the joints values [1]. These advantages make this type of robots very appealing in certain fields where a high degree of flexibility and adaptability is required during the operations. The development of hyper-redundant robots can be traced back to 1972 when Hirose et al built a snake-like robot prototype with 20-DoF called ACM III [2]. That prototype became the reference for this type of robots and many researchers tried over the years to improve the original concept in different ways [3]

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