Head-steering path planning method for ultra-redundant manipulator in confined spaces

Jiyu Liang; Guoqing Song; Chenghao Zhao

doi:10.1117/12.2646777

7 September 2022 Head-steering path planning method for ultra-redundant manipulator in confined spaces

Jiyu Liang, Guoqing Song, Chenghao Zhao

Proceedings Volume 12329, Third International Conference on Artificial Intelligence and Electromechanical Automation (AIEA 2022); 123292N (2022) https://doi.org/10.1117/12.2646777
Event: Third International Conference on Artificial Intelligence and Electromechanical Automation (AIEA 2022), 2022, Changsha, China

Abstract

Ultra-redundant Manipular is a sort of highly flexible bionic robot. It has small cross-sectional profile and is highly adaptable to multi-obstacle and non-structural environments. Different tools can be installed on the end effector to accomplish certain complex operational tasks. Ultra-redundant manipulator can operate movement in confined spaces such as pipes, aero engines and post disaster debris. Reasonable path planning method is required to avoid collisions between the ultra-redundant manipulator and the environment during task execution. An improved head-steering path planning method is proposed in this paper. A nonlinear programming approach is used to solve the optimization problem, and the minimum value of the nonlinear objective function is solved to ensure that the end of the ultra-redundant manipulator follows the target path with minimum error, and to realize the "collision-free" path of the ultra-redundant manipulator in the non-structural environment. In this paper, firstly, the kinematic model of the ultra-redundancy manipulator is established, then the objective function of the path planning method is formulated. Simulation experiments are conducted for aircraft engine inspection and the approach of target points in a narrow space. The experimental results show that the head-steering path planning method proposed in this paper is effective and feasible.

Citation Download Citation

Jiyu Liang, Guoqing Song, and Chenghao Zhao "Head-steering path planning method for ultra-redundant manipulator in confined spaces", Proc. SPIE 12329, Third International Conference on Artificial Intelligence and Electromechanical Automation (AIEA 2022), 123292N (7 September 2022); https://doi.org/10.1117/12.2646777

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KEYWORDS

Kinematics

Head

Silicon

Inspection

Biomimetics

Space robots

Numerical simulations

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