Optimal Reachability with Obstacle Avoidance for Hyper-redundant and Soft Manipulators

Simone Cacace, Anna Lai, Paola Loreti

2020

Abstract

We address an optimal reachability problem in constrained environments for hyper-redundant and soft planar manipulators. Both the discrete and continuous devices are inextensible and they are characterized by a bending moment, representing a natural resistance to leave the position at rest, an inequality constraint forcing the bending below a fixed threshold, and a control term prescribing local bending. After introducing the model and characterizing the associated equilibria, we set the problem in the framework of optimal control theory and we present some simulations related to its numerical solution.

Paper Citation

in Harvard Style

Cacace S., Lai A. and Loreti P. (2020). Optimal Reachability with Obstacle Avoidance for Hyper-redundant and Soft Manipulators.In Proceedings of the 17th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-758-442-8, pages 134-141. DOI: 10.5220/0009819101340141

in Bibtex Style

@conference{icinco20,
author={Simone Cacace and Anna Lai and Paola Loreti},
title={Optimal Reachability with Obstacle Avoidance for Hyper-redundant and Soft Manipulators},
booktitle={Proceedings of the 17th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2020},
pages={134-141},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0009819101340141},
isbn={978-989-758-442-8},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 17th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - Optimal Reachability with Obstacle Avoidance for Hyper-redundant and Soft Manipulators
SN - 978-989-758-442-8
AU - Cacace S.
AU - Lai A.
AU - Loreti P.
PY - 2020
SP - 134
EP - 141
DO - 10.5220/0009819101340141