抄録
Hyper-redundant manipulator has a very large or infinite degrees of kinematic redundancy, thus possesses some unconventional features such as the ability to enter a narrow space while avoiding obstacles. In this paper, we propose a new technique for a planar hyper-redundant manipulator to avoid the existing static obstacles in environment while performing a payload-location task from point to point. It is based on analysis in the defined posture space, where three parameters were used to determine the hyper-redundant manipulator configuration. The scheme is verified by computer simulation in case of using the model of the developed Hyper-R Arm. It shows that our method works perfect and the obstacles are well avoided globally.
