Obstacle Avoidance and Multitarget Tracking of a Super Redundant Modular Manipulator Based on Bezier

• 作 者: Li Chen Ying Ma Yu Zhang Jingu
• 机 构: SchoolofAirTransportation,StateKeyLaboratoryofRobotics,SchoolofAeronauticsandAstronautics
• 出 处: 中国机械工程学报:英文版
• 发表日期: 2020年5期
• 关键词: Super redundant manipulator Multi target tracking Follow-the-leader Obstacle avo
• 基金项目: Supported by National Natural Science Foundation of China(Grant No.61733017),Foundation of State Key Laboratory of Robotics of China(Grant No.2018O13),Shanghai Pujiang Program of China(Grant No.18PJD0

A super redundant serpentine manipulator has slender structure and multiple degrees of freedom.It can travel through narrow spaces and move in complex spaces.This manipulator is composed of many modules that can form different lengths of robot arms for di