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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
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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 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 gap in theoretical research on modular methods cannot accurately describe the spatial geometry and mechanical information of slender soft robots, resulting in the inability to achieve precise control

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

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[0048] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0049] The present invention applies to elongated soft robots (which are prior art) whose length to cross-sectional diameter ratio is greater than 100.

[0050] Such as figure 1As shown, the slender soft robot is idealized as an ultra-long elastic thin rod with a rigid circular section, and the space curve formed by passing through the center of the section is called the center line of the slender soft robot. Now the basic assumptions of the robot model are given:

[0051] (1) The cross-section of the robot is equal, orthogonal to the centerline, and its geometric diameter is much smaller than the overall length of the robot and the radius of curvature of the centerline, and the shear deformation under the influence of bending is not considered. ...

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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,...

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Application Information

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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
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