KINETIC AND DYNAMIC MODELS OF HYPER-REDUNDANT MANIPULATOR BASED ON LINK EIGENVECTORS

Abstract

Hyper-redundant manipulator has a slim geometric shape and super high degrees of freedom (DOF), which promises high motion efficiency and flexible obstacle avoidance ability in a confined space. Nevertheless, it also challenges the more complicated motion control strategy. In this article, the concepts of “link eigenvectors” and “manipulator’s eigenpoints,” which apply to a widely used geometric kinematics method, are proposed. Hence, the kinematic and dynamic models can be constructed intuitively. And since the indirect joint space and local frames are replaced by the link eigenvectors and unified global frame, the kinematic and dynamic problems, especially the link’s position, velocity, and acceleration, can be solved more directly. Further, based on the new models, mechanical analysis and Newton–Euler dynamic equations are effectively simplified, so as to realize the fast and precise dynamic resolution. Experiment results show that the kinematic and dynamic theoretical models are correct. And the driving forces of motors are successfully optimized, while the kinematic precision is improved simultaneously.