Is there any implementation of hyper redundant or continuum robot?

asked 2017-06-08 17:11:19 -0500

raulMrello gravatar image

Hi, I am designing a hyper redundant elephant trunk robot formed by 3 segments and 3 tendoms per segment and I would like to integrate into ROS. elephant trunk robot Also I am new to ROS and after diving through the forums, answers, tutorials and documentation, I don't find anything similar (urdf models, some example, video, simulation...) Reading Moveit documentation, I've seen that inverse kinematics models can be modelled but the robot must have less than 7 DOF. In my case, as it is a redundant manipulator, the IK model requires much more DOFs than that. I've expressed each elephant trunk segment as a combination of 4 DOF rigid links. As the robot has 3 segments, I could model the Ik as a 12 DOF manipulator. Anybody knows if this kind of robot can be modelled into ROS, or if this is not possible?? Thank you

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I don't see any reason why you couldn't model your robot using your rigid-link representation using URDF. The IK on the other hand will be a bit more challenging. You will need to figure out how to "best" pick values for the unconstrained 6 DOF's given a target pose.

BrettHemes gravatar imageBrettHemes ( 2017-06-09 08:58:35 -0500 )edit

... actually, after searching a bit it seems that the existing solvers should be able to handle larger DOF's? I will defer to someone with more knowledge on the subject but KDL says nothing that I can find about a limit on DOF and TRAC-IK even posts metrics from using their IK on a 15 DOF chain.

BrettHemes gravatar imageBrettHemes ( 2017-06-09 09:10:00 -0500 )edit

Hi, thank you very much for the info. I will study more in depth those IK packages. Thank you.

raulMrello gravatar imageraulMrello ( 2017-06-12 09:47:29 -0500 )edit