On Kinematic Planning Of Planar Hyper-Redundant Manipulator

A hyper- redundant robot is such robot with degrees of freedom far more than its minimum number of degrees of freedom required to complete a task. It has a wide range of potential applications, and has drawn attention of more and more researchers.In this thesis kinematical planning of planar hyper-redundant manipulator based on backbone curve is studied, and the main points are as follow.With the kinematic equation of hyper-redundant manipulator based on backbone curve modal, the relationship between actual workspace of a manipulator and its initial parameter is investigated. And a method for choosing the initial parameter is presented to ensure the solvability of inverse kinematics.An obstacle avoidance method utilizing initial parameter is proposed and is applied successfully to the path planning of a planar hyper-redundant manipulator with 10 or 30 links to avoid one and two obstacles respectively.The combination of the methods based on initial parameter and subsection function is studied to overcome their shortcomings. An example of a planar manipulator with 30 links is given to demonstrate the feasibility of the combined method in the path planning of multiple-obstacle-avoidance.Subsection function is applied to the wrapping planning of planar hyper-redundant manipulator. A new approach based on variable curvature for wrapping planning is developed. The approach show its advantage in wrapping a body with coarse or non-circular surface.The simulations of the above mentioned kinematic planning are coded in Matlab.