[1]NIU Guochen,ZHANG Yunxiao.Kinematics simulation and control system design of continuous robot[J].CAAI Transactions on Intelligent Systems,2020,15(6):1058-1067.[doi:10.11992/tis.202005031]
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Kinematics simulation and control system design of continuous robot
CAAI Transactions on Intelligent Systems[ISSN 1673-4785/CN 23-1538/TP] Volume:
15
Number of periods:
2020 6
Page number:
1058-1067
Column:
学术论文—智能系统
Public date:
2020-11-05
- Title:
- Kinematics simulation and control system design of continuous robot
- Keywords:
- continuous robot; follow terminal; control mode; kinematic model; flexible manipulator; space transformation; handle control; three joints
- CLC:
- TP242
- DOI:
- 10.11992/tis.202005031
- Abstract:
- To enable robotic adaptation to increasingly complex unstructured environments, we designed a wire-driven continuous manipulator that combines a spherical joint and flexible support rod. To study the drive-mapping relation of the continuous robot, we established a kinematics model based on the assumptions of the constant curvature model, and we used MATLAB to simulate the kinematics and drive mapping. The spatial superiority of the continuous robot is demonstrated by the simulation results. We built a prototype platform for the three-joint continuous robot, and designed the handle operation mode for the end joint based on the characteristics of the robot. Experimental verification was performed on the prototype platform. Our experimental results verify both the rationality and correctness of the kinematic model and drive mapping relationship and the feasibility of the manipulation method.
- References:
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Last Update:
2020-12-25