Modeling and control method of elastic plane constrained slender soft-bodied robot

A technology of plane constraint and control method, applied in instruments, special data processing applications, electrical and digital data processing, etc. impact, etc.

Pending Publication Date: 2021-05-18
SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
View PDF0 Cites 0 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The technology of slender soft robots is currently a research hotspot. Under the interaction of multi-physics environments, due to the large interference of elastic plane constraints on the spatial geometry of slender soft robots, it has a nonlinear impact on the control of the robot, and its robustness is weak, resulting in The robot cannot be precisely controlled, and the current theoretical modeling met

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Modeling and control method of elastic plane constrained slender soft-bodied robot
  • Modeling and control method of elastic plane constrained slender soft-bodied robot
  • Modeling and control method of elastic plane constrained slender soft-bodied robot

Examples

Experimental program
Comparison scheme
Effect test

Example Embodiment

[0048]In order to make the objects, technical solutions and advantages of the present invention, the present invention will be described in detail below with reference to the accompanying drawings and specific examples.

[0049]The present invention is used for elongated software robots (as prior art), and its length and cross section diameter are greater than 100.

[0050]Such asfigure 1 As shown, the elongated soft robot is ideally chemically formed into a super long elastic thin rod having a rigid circular section, and the space curve consisting of the center of the cross section is called the centerline of the elongated software robot, and the basic hypothesis of the robot model is given:

[0051](1) The cross section of the robot is the sections, orthogon with the center line, the geometric diameter is much smaller than the overall length of the robot and the radius of curvature of the centerline, and does not consider shearing deformation under the influence of the bend.

[0052](2) The t...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

PUM

No PUM Login to view more

Abstract

The invention relates to a modeling and control method for a slender soft robot constrained by an elastic plane, which comprises the following steps of: simplifying the cross section of the slender soft robot into a circular section, simplifying the whole structure of the slender soft robot into a Kirchhoff elastic slender rod, and carrying out nonlinear static analysis on the simplified slender soft robot model; performing airspace discretization on the model by adopting a finite difference method, and adding a geometric space boundary condition constraint, a fixed length condition constraint and an elastic plane constraint; based on a nonlinear least square algorithm combining a trust region method and an Armijio search strategy, an optimization algorithm of an adaptive search elastic constraint condition being provided, a mathematical model being solved, and geometric space coordinates and mechanical information of all discrete points of the slender soft robot being obtained. The correctness and rationality of the method are verified according to the solving result, and important support is provided for the modeling theory of the slender soft robot.

Description

technical field [0001] The invention relates to the field of soft robots, and relates to a modeling and control method for a slender soft robot constrained by an elastic plane. [0002] technical background [0003] The technology of slender soft robots is currently a research hotspot. Under the interaction of multi-physics environments, due to the large interference of elastic plane constraints on the spatial geometry of slender soft robots, it has a nonlinear impact on the control of the robot, and its robustness is weak, resulting in The robot cannot be precisely controlled, and the current theoretical modeling methods for slender soft robots do not consider the influence of gravity distribution force, elastic constraint contact force, and friction between the slender soft robot and the constraint surface, so that building The theoretical research gap of the modular method cannot accurately describe the spatial geometry and mechanical information of the slender soft robot,...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

Application Information

Patent Timeline
no application Login to view more
IPC IPC(8): G06F30/17G06F30/23G06F119/14
CPCG06F30/17G06F30/23G06F2119/14
Inventor 刘玉旺苑婷雯刘涛李杰陈鹏王冬琦
Owner SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap