[1]牛国臣,张云霄.连续型机器人运动学仿真和操控系统设计[J].智能系统学报,2020,15(6):1058-1067.[doi:10.11992/tis.202005031]
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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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]
连续型机器人运动学仿真和操控系统设计
《智能系统学报》[ISSN 1673-4785/CN 23-1538/TP] 卷:
15
期数:
2020年第6期
页码:
1058-1067
栏目:
学术论文—智能系统
出版日期:
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
- 分类号:
- TP242
- 摘要:
- 为了适应越来越复杂的非结构化环境，设计了一种基于球铰链连接和柔性支撑杆结合的线驱动连续型机械臂，并基于常曲率模型的假设建立连续型机器人的运动学模型，研究连续型机器人驱动映射关系，利用MATLAB进行运动学和驱动映射的仿真，仿真结果表明连续型机器人的空间优越性。搭建三关节连续型机器人样机平台，基于连续型机器人的特点设计末端关节跟随手柄操作模式，并在样机平台上实验验证，实验结果表明了运动学模型和驱动映射关系的合理性和正确性以及操控方式的可行性。
- 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.
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备注/Memo
收稿日期:2020-05-25。
基金项目:天津科技支撑计划项目(17ZXHLGX00120)；中央高校基本科研业务费项目(3122019043)
作者简介:牛国臣，副教授，博士，中国人工智能学会智能产品与产业工作委员会委员，主要研究方向为智能机器人环境感知、导航控制规划。参与完成国家自然科学基金及民航局科技项目3项、主持完成横向及校级项目共4项。发表学术论文几十余篇;张云霄，硕士研究生，主要研究方向为连续型机器人运动规划
通讯作者:牛国臣.E-mail:niu_guochen@139.com
更新日期/Last Update:
2020-12-25