运动学
执行机构
机器人
路径(计算)
跟踪(教育)
控制理论(社会学)
空格(标点符号)
计算机科学
运动规划
螺旋理论
算法
数学
控制工程
人工智能
工程类
经典力学
物理
控制(管理)
心理学
教育学
程序设计语言
操作系统
作者
Ke Qiu,Hongye Zhang,Jingyu Zhang,Rong Xiong,Haojian Lu,Yue Wang
标识
DOI:10.1177/02783649241290525
摘要
Path tracking of continuum robots is a fundamental and crucial problem across various applications. In this article, we address this problem by focussing on three aspects. Firstly, we propose an efficient multi-solution inverse kinematics solver for three-section constant curvature robots by bridging the theoretical reduction and the numerical correction. Secondly, we derive a linear tendon-driven actuation model, establishing the connection between the robot configuration space and the actuator space. With this model, we achieve optimal distance planning and optimal time allocation considering the constraints of actuator velocity and acceleration, generating a continuous trajectory directly in the actuator space. Finally, we present our kinematic path tracking framework, which includes offline optimal trajectory planning and online feedforward and feedback control. Experiments are conducted both in simulations and in the real world on our three-section tendon-driven continuum robot. The experiments validate the increased efficiency, higher success rates, and accessibility of multiple solutions offered by our inverse kinematics solver, as well as the optimality in distance planning and time allocation in the actuator space. Performance improvements in tracking accuracy are demonstrated through comparative experiments and the application of our framework in path tracking tasks with obstacles is presented through a case study.
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