Trajectory Control of Curve Constrained Hyper-Redundant Space Manipulator

10.6567/IFToMM.14TH.WC.OS13.123

Vijay Kumar Dalla；Pushparaj Mani Pathak

Space robot ； Hyper-redundancy ； Curve constraint ； Trajectory control ； Bond graph model

Proceedings of the 14th IFToMM World Congress

14th-4（2015 / 11 / 04）

367 - 374

英文

This paper presents a methodology to control motion planning of a hyper-redundant planar pace robot tracing a specified end-effector path. For this, a space robot of 6 DOF has been considered for study. A hyperredundancy enhances the capability to realize various kinds of task, i.e., obstacle avoidance, joint limits, singularity avoidance, etc. For full utilization of its potential capability, shape control is suggested here; that is, the tip of the links of manipulator thus its entire body is controlled by fitting end of each link onto a provided time varying curve. For shape control, the control objectives are formulated defining a contour correspondence between a hyper-redundant robot and a curve that lay down a desired shape. The whole manipulator body is to be stayed on onto a spatial curve. Some of the joints are locked using Proportional-Derivative (PD) control and the rest are kept active. Proportional-Derivative-Integral control has been used to take care of end-effector trajectory tracking in the workspace. The bond graph technique has been used for the dynamic model of the system and generating system equations.