Centre for Automation and Robotics (UPM-CSIC), José Gutiérrez Abascal, 2, 28006 Madrid, Spain.
Sensors (Basel). 2020 Apr 12;20(8):2181. doi: 10.3390/s20082181.
Hyper-redundant robots are highly articulated devices that present numerous technical challenges such as their design, control or remote operation. However, they offer superior kinematic skills than traditional robots for multiple applications. This work proposes an original and custom-made design for a discrete and hyper-redundant manipulator. It is comprised of 7 sections actuated by cables and 14 degrees of freedom. It has been optimized to be very robust, accurate and capable of moving payloads with high dexterity. Furthermore, it has been efficiently controlled from the actuators to high-level strategies based on the management of its shape. However, these highly articulated systems often exhibit complex shapes that frustrate their spatial understanding. Immersive technologies emerge as a good solution to remotely and safely teleoperate the presented robot for an inspection task in a hazardous environment. Experimental results validate the proposed robot design and control strategies. As a result, it is concluded that hyper-redundant robots and immersive technologies should play an important role in the near future of automated and remote applications.
超冗余机器人是高度铰接的设备，它们在设计、控制或远程操作等方面存在诸多技术挑战。然而，与传统机器人相比，它们在多种应用中具有更优越的运动学技能。本工作提出了一种用于离散超冗余机械手的原创定制设计。它由 7 个部分组成，通过电缆驱动，具有 14 个自由度。它经过优化，具有很高的鲁棒性、准确性，并且能够以很高的灵巧度搬运有效负载。此外，它已经从执行器到基于形状管理的高层策略得到了高效控制。然而，这些高度铰接的系统通常具有复杂的形状，这使其空间理解变得困难。沉浸式技术作为一种远程安全操作所提出机器人的良好解决方案，适用于危险环境中的检查任务。实验结果验证了所提出的机器人设计和控制策略。因此，可以得出结论，超冗余机器人和沉浸式技术在自动化和远程应用的不久的将来应该发挥重要作用。
