Continuous robot arm type self-estimation method
A robotic arm and continuous technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as limited applications, and achieve low cost and strong scalability
Active Publication Date: 2020-09-04
SHENZHEN GRADUATE SCHOOL TSINGHUA UNIV
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Problems solved by technology
[0004] Due to the advantages of low cost and rich information, visual sensors have great potential in robot perception; however, the current vision-based continuous robot environment perception scheme mainly uses external camera information, which limits its application in unknown unstructured scenes
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[0036] In order to make the technical problems, technical solutions and beneficial effects to be solved by the embodiments of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.
[0037] It should be noted that when an element is referred to as being “fixed” or “disposed on” another element, it may be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element. In addition, the connection can be used for both fixing function and circuit communication function.
[0038] It is to be understood that the terms "length", "width", "top", "bottom", "front"...
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The invention provides a continuous robot arm type self-estimation method. A continuous robot is assumed based on segmented constant curvatures under planar motion. The method includes the steps thatall constant curvature segments of the continuous robot are distinguished, and image acquisition units are arranged at the tail ends of all the constant curvature segments; the kinematics of each constant curvature segment is equivalent through an equivalent model, and the constraint relationship between the image acquisition units and external feature points during motion is obtained according toa generalized polar constraint technique; and the constraint relationship between the image acquisition units at the tail ends of all the segments and the external feature points during motion is solved in real time through recurrence according to a constant curvature segment connection sequence from the root of the continuous robot, arm type parameters of all the constant curvature segments areobtained, and finally the whole arm type parameters are self-estimated. The arm type states can be self-estimated in real time through the image acquisition units arranged on a body of the continuousrobot, and therefore rich environment sensing information is provided for downstream planning control.
Description
technical field [0001] The invention relates to the technical field of continuous robots, in particular to a method for self-estimating the arm shape of a continuous robot. Background technique [0002] In disaster rescue, nuclear and radiation equipment maintenance, toxic waste sampling, pipeline monitoring, etc., due to the narrow space and great danger, it is not suitable for people or large equipment to enter to carry out work. Therefore, continuous robots with slender body and flexible movement (Continuum Robots) has become an important choice. Continuous robots have good bending characteristics and obstacle avoidance capabilities, can change their own shape and attitude to adapt to the environment, overcome the limitations of various obstacles, and are widely used in special occasions for autonomous operations in unstructured environments, such as medical , military, disaster relief, marine exploration and other fields. However, the current research on continuous rob...
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IPC IPC(8): B25J9/00B25J9/16B25J19/00
CPCB25J9/00B25J9/1607B25J19/00
Inventor 刘厚德程淏王学谦兰斌梁斌
Owner SHENZHEN GRADUATE SCHOOL TSINGHUA UNIV