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An iterative algorithm for inverse displacement analysis of Hyper-redundant elephant’s trunk robot

Published online by Cambridge University Press:  28 March 2022

Feifei Yuan ,
Yongjie Zhao Open the ORCID record for Yongjie Zhao [Opens in a new window] ,
Yongxing Zhang ,
Xingwei Zhang  and
Xinjian Lu
Feifei Yuan
Affiliation:
Department of Mechatronics Engineering, Shantou University, Shantou 515063, China
Yongjie Zhao*
Affiliation:
Department of Mechatronics Engineering, Shantou University, Shantou 515063, China
Yongxing Zhang
Affiliation:
Department of Mechatronics Engineering, Shantou University, Shantou 515063, China
Xingwei Zhang
Affiliation:
Department of Mechatronics Engineering, Shantou University, Shantou 515063, China
Xinjian Lu
Affiliation:
Guangdong Goldenwork Robot Technology Ltd, Foshan 528000, China
*
*Corresponding author. Email: meyjzhao@stu.edu.cn
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Abstract

This paper proposes an iterative algorithm to solve the inverse displacement for a hyper-redundant elephant’s trunk robot (HRETR). In this algorithm, each parallel module is regarded as a geometric line segment and point model. According to the forward approximation and inverse pose adjustment principles, the iteration process can be divided into forward and backward iteration. This iterative algorithm transforms the inverse displacement problem of the HRETR into the parallel module’s inverse displacement problem. Considering the mechanical joint constraints, multiple iterations are carried out to ensure that the robot satisfies the required position error. Simulation results show that the algorithm is effective in solving the inverse displacement problem of HRETR.

Keywords

hyper-redundant elephant’s trunk robothybrid mechanismjoint constraintinverse displacementiterative algorithm
Type
Research Article
Information
Robotica , Volume 40 , Issue 10 , October 2022 , pp. 3539 - 3556
Copyright
© The Author(s), 2022. Published by Cambridge University Press

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