Title :
Design and construction of 9-DOF hyper-redundant robotic arm
Author :
Xingsheng Xu ; Ananthanarayanan, Hariharan ; Ordonez, Raul
Author_Institution :
Sch. of Electr. & Comput. Eng., Univ. of Dayton, Dayton, OH, USA
Abstract :
In this paper, an application robotic platform has been constructed based on the kinematic model of a 9-DOF hyper-redundant manipulator. The efficacy of our kinematic algorithm affects the accuracy and stability of both motion control and path tracking. The result of tracking different paths and error analysis shows that the 9-DOF manipulator works functionally and satisfies all the requirement of experimental design.
Keywords :
design engineering; design of experiments; error analysis; flexible manipulators; motion control; path planning; redundant manipulators; stability; 9-DOF hyper-redundant manipulator; 9-DOF hyper-redundant robotic arm; application robotic platform; error analysis; experimental design; kinematic algorithm; kinematic model; motion control; path tracking; stability; Error analysis; Joints; Kinematics; Manipulators; Robot kinematics; Tracking;
Conference_Titel :
Aerospace and Electronics Conference, NAECON 2014 - IEEE National
Print_ISBN :
978-1-4799-4690-7
DOI :
10.1109/NAECON.2014.7045828
