Follow the Leader Motion Strategy in Double-Octahedral Parallel Trusses

Variable Geometry Truss robot manipulators (VGTs) using parallel structure show many characteristics superior to serially-connected manipulators, including low weight, high structural strength, and a high number of degrees of freedom. The characteristics of one particular VGT, the Double-Octahedral Parallel Module (DOPM), allow the truss structure to move and compress with three degrees of freedom. This paper describes a new motion method for the DOMP-VGT, called the Follow the Leader, in which serially-connected VGT modules move single file in a path to reach a goal trajectory. This strategy relieves the system from the necessity of determining complex obstacle avoidance strategies. Moreover, Follow the Leader motion allows the VGT manipulator to work in a decentralized manner, minimizing interconnectivity and central processing requirements. This paper improves upon existing control techniques for DPOM chains by implementing an on-board neural network.