Master-slave controlled flexible continuum robot device and its control method

Abstract

A master-slave control flexible continuum robot device and a control method thereof belong to the technical field of robots. The master-slave control flexible continuum robot device comprises a control arm, a mechanical arm and a control system. The mechanical arm is a trunk simulative flexible arm and achieves bending through a plurality of screw-driven flexible rods. A system enables the mechanical arm to complete the same actions by simulating the control actions of operators on the control arm, and therefore simple and visual control on the mechanical arm is achieved. The master-slave control flexible continuum robot device achieves visual master-slave control by aid of the characteristic that the control arm is similar to the mechanical arm and by combining the sensor and the controller; controls the mechanical arm through the scaled-down control arm; effectively reduces the control difficulty and is applicable to remote control operation. In addition, the master-slave control flexible continuum robot device can bend, extend and contract in multiple directions, has unique grabbing, operating and obstacle evading functions, and has a wide application prospect.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to the structure and control method design of a master-slave controlled flexible continuum robot device. Background technique [0002] Elephant trunks, octopus tentacles, and snakes are very unique biological structures that can bend in multiple directions, have good flexibility, and have strong grasping, manipulation, and obstacle avoidance functions. The United States, the United Kingdom, Germany and other countries have made many research achievements in the field of flexible continuum robots. Some flexible mechanical devices have been developed, such as the OctArm manipulator of Clemson University, the snake robot of OC Robotics, and the pneumatic imager of Festo. Nose Hand, Vanderbilt University's Multi-Spine Snake Robot, etc. [0003] There is an existing elephant trunk robotic arm unit device (Chinese invention patent, CN103895012A) including a base, a plurality o...

AI Technical Summary

Problems solved by technology

The relatively mature traditional industrial robot control methods generally use the operation panel or computer offline programming, which is not intuitive enough for the control of this flexible continuum robot, especially when the flexible continuum robot has a large number of drive motors, the control is difficult and requires complex robots. Kinematics model, and the robot kinematics inverse solution is not unique

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