A design and bio-inspired control of a novel redundant manipulator with M-DOFs links Academic Article uri icon


  • In constrained workspaces, a serial manipulator with fixed length links has restricted motion for performing the required tasks. To overcome this, we suggest a novel redundant manipulator with multiple 3-degree of freedoms links capable of elongating by a maximum 25% of their nominal lengths. The joint limit avoidance approach is used as the redundancy resolution scheme. A bio-inspired closed-loop inverse kinematic algorithm based on brain limbic system is proposed to remove tracking errors. The results of the proposed method show that the proposed manipulator has a relatively efficient reachable workspace in constrained environments, compared to a serpentine 6-DOFs robotic manipulator of the same length links.

author list (cited authors)

  • Yi, H., & Langari, R.

citation count

  • 3

publication date

  • December 2012