Feel lonely? What about reading books? Book is one of the greatest friends to accompany while in your lonely time. When you have no friends and activities somewhere and sometimes, reading book can be a great choice. This is not only for spending the time, it will increase the knowledge. Of course the b=benefits to take will relate to what kind of book that you are reading. And now, we will concern you to try reading modelling and control of robot manipulators as one of the reading material to finish quickly.

Modelling and Control of Robot Manipulators

The diverse locomotion modes and physiology of biological snakes make them supremely adapted for their environment. To model the noteworthy features of these snakes we have developed a snake-like robot that has no forward direction driving force. In order to enhance the ability of our robot to adapt to the environment, in this study we investigate the creeping locomotion of a snake-like robot on a slope. A computer simulator is presented for analysis of the creeping locomotion of the snake-like robot on a slope, and the environmentally-adaptable body shape for our robot is also derived through this simulator.

Analysis of Creeping Locomotion of a Snake-like Robot on a Slope

Upper-body haptic system for snake robot teleoperation in pipelines

In this study, the authors comprehensively evaluated the traveling performance of a flexible pipe inspection robot (PI-RO) that can actively output both propulsion and traction forces. Household pipes must be frequently inspected for cracks and corrosion to ensure continuous provision of water and gas. As these pipes are essential for our everyday life, it is difficult to suspend their usage for long periods; hence, inspection should be conducted for short durations. In addition, inspecting entire pipelines using existing methods is challenging because the pipes are constructed over long distances and have complex structures. Therefore, we developed a flexible robot that can actively output propulsion and traction forces to inspect long-distance complex pipelines, such as household pipelines. Herein, we describe the flexible structural design of a PI-RO that inspects thin one-inch pipes (inner diameter of approximately 28 mm) typically present in household piping. We also evaluated the characteristics of each PI-RO unit. Finally, we confirmed that the PI-RO is not significantly affected by the traveling environment, such as long distances and complex small-diameter pipes, by conducting traveling experiments on small pipes (inner diameter 28 mm) and long-distance (up to approximately 11.7 m) complex pipes composed of horizontal, vertical, and 90° bend pipes.

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In-Pipe Inspection Robot Capable of Actively Exerting Propulsive and Tractive Forces With Linear Antagonistic Mechanism

Adaptive trajectory control of an under-actuated snake robot

Review of snake robots in constrained environments

The task of capturing a space target using a space robot carrying robotic manipulators can be divided into two phases: controlling the robot to reach a desired berth position near the floating target, and manipulating the manipulator to grasp the target Most of the existing planning strategies only focus on a point-to-point trajectory planning of the manipulator to ensure the end-effector to reach a desired pose, while the berth position is usually set manually In this paper, we propose an optimal coordinated planning strategy for space robots to grasp targets Both the manipulator's joint trajectories and the robot's berth position are considered to autonomously accomplish the coordinated planning of the end-effector and the robot base From the perspective of the task-space constraints, the manipulator is first planned to satisfy the attitude constraints of the end-effector and base, and then the berth position is planned to meet the end-effector's position A Modified Generalized Jacobian Matrix (MGJM) is proposed to describe the velocity mapping from the joint space to the attitude of the end effector and the base Based on the MGJM and Particle Swarm Optimization (PSO), the whole planning task is turned to optimize the joint trajectories and the berth position Simulated experiments have verified that the proposed planning strategy can successfully automate the two phases of a space robot to grasp target in the space

Jindong Liu

Papers

Review of snake robots in constrained environments

Optimal coordinated planning strategy for space robots grasping targets