Abstract
The paper presents a control strategy for a hyper redundant micro robotic arm that has the particularity to have either a) discrete joints: only a small finite number of position are allowed within min and max bounds and b) continuous joints: the joint can move continuously within its min and max bounds. Technologically speaking the second case being much harder to perform, our problem is double: a)solve inverse kinematics for this kind of system and b) maximize the number of discrete joints. We show that the hybrid nature of the manipulator make these problems non-trivial and we develop a parallel evolution strategy and genetic algorithm in response to this dual problem. Simulation results show the efficiency of the proposed control strategy.
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Forêt, J., Boudjabbi, S., Ferreira, A., De Mathelin, M. (2002). Configuration Control of a Flexible Micro Robotic Arm for Catheter-type Microrobot. In: Bianchi, G., Guinot, JC., Rzymkowski, C. (eds) Romansy 14. International Centre for Mechanical Sciences, vol 438. Springer, Vienna. https://doi.org/10.1007/978-3-7091-2552-6_16
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DOI: https://doi.org/10.1007/978-3-7091-2552-6_16
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