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Line length positioning method and device for feedback control of variable cross-section flexible arm and medium

A feedback control and positioning method technology, which is applied in the direction of program control manipulators, manufacturing tools, manipulators, etc., can solve problems such as being easily affected by the environment, ignoring variable cross-sections, and complex positioning systems

Active Publication Date: 2021-02-12
NAT INNOVATION INST OF DEFENSE TECH PLA ACAD OF MILITARY SCI
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  • Abstract
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Problems solved by technology

[0006] On the one hand, the present invention provides a line length positioning method for feedback control of variable cross-section flexible arms to solve the technical problems of existing soft manipulators that are easily affected by the environment, complex positioning systems, low positioning accuracy, and ignore variable cross-sections.

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  • Line length positioning method and device for feedback control of variable cross-section flexible arm and medium
  • Line length positioning method and device for feedback control of variable cross-section flexible arm and medium
  • Line length positioning method and device for feedback control of variable cross-section flexible arm and medium

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[0061] It should be noted that, in the case of no conflict, the embodiments in the present application and the features in the embodiments can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and examples.

[0062] refer to figure 1 , a preferred embodiment of the present invention provides a method for positioning the wire length of a flexible arm with variable cross-section feedback control, comprising the steps of:

[0063] S1. Measure the actual length of the three cables after any variable-section airbag segment of the variable-section flexible arm is bent The measured three actual line lengths As the length of the three equivalent lines of the current variable-section airbag segment The initial value of i=1, 2, 3; the three cables take the centerline of the variable-section airbag section as the center of rotation before the variable-section airbag section is bent, and are separated by ...

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Abstract

The invention discloses a line length positioning method and device for feedback control of a variable cross-section flexible arm and a medium. The method comprises the following steps of: S1, takinga measured actual line length as an initial value of an equivalent line length of a current variable cross-section air bag section; S2, obtaining a bending angle theta and a bending degree according to the initial value; S3, respectively obtaining a displacement angle beta i according to the bending angle theta and the bending degree; S4, obtaining a calculation value of the equivalent line lengthaccording to the beta i, d0 and d1; S5, taking the calculation value of the equivalent line length as an initial value of three equivalent line lengths of the current variable cross-section air bag section, and then repeating the steps S1-S4 for iteration to obtain final theta and beta i; S6, repeating the steps S1-S5 to obtain relative coordinates of the tail ends of the variable cross-section air bag sections; and S7, converting the relative coordinates of each variable cross-section air bag section into an absolute coordinate system for accumulation to obtain accurate coordinate positionsof each variable cross-section air bag section and the tail end of the variable cross-section flexible arm in the absolute coordinate system. The device is simple in structure, high in precision and high in adaptability.

Description

technical field [0001] The invention relates to the field of robot control, in particular to a line length positioning method, device and medium for feedback control of variable cross-section flexible arms. Background technique [0002] At present, the soft manipulator belongs to the frontier field of robot research. Due to its flexible characteristics, it is impossible to obtain accurate position coordinate information from the driving link. Therefore, a measurement system independent of the driving system is required for: [0003] 1) Laser / ultrasonic ranging and positioning. Lasers and ultrasonics have high precision and fast response in measuring length and speed, and have been widely used in various fields of industry and daily life. The core method is to establish relative coordinates, measure the speed and distance of the measurement point under the relative coordinates, and then obtain the relative coordinates. However, this method has higher requirements for the env...

Claims

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Application Information

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IPC IPC(8): B25J9/16
CPCB25J9/16
Inventor 黄奕勇许嘉毅刘红卫张翔付康佳韩伟熊丹
Owner NAT INNOVATION INST OF DEFENSE TECH PLA ACAD OF MILITARY SCI
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