Mechanical Design and Obstacle-avoidance-based Motion Control for Cable-driven Hyper-redundant Manipulator

TL;DR: Mechanical design and obstacle-avoidance-based motion control for cable-driven hyper-redundant manipulator is presented. The design includes cable mounting and actuating and driving subsystems, forward and inverse kinematics, and a motion controller for obstacle avoidance and precise motion control.

Abstract: In this paper, a mechanical design of cable-driven hyper-redundant manipulator (CDHRM) is presented, and for which an obstacle-avoidance-based motion control method is proposed. First, cables are mounted to drive CDHRM, and the actuating subsystem is designed to be separated from the driving subsystem, which makes the redundant degrees of freedom (DOF) and flexibility possible, and makes CDHRM suitable to work in space-restricted environments. Second, based on the structure of CDHRM, the forward and inverse kinematics are established. Then, to implement CDHRM in space-restricted environments, a motion controller is proposed to guarantee both the control accuracy and obstacle avoidance. Finally, the proposed motion control method is verified through simulation and experiment, which demonstrate the effectiveness and feasibility of the proposed method in obstacles avoiding and precise motion controlling of CDHRM.