A motion data processing method of a rope-driven serpentine manipulator with a rope-hole gap

Abstract

The invention belongs to the technical field of robot control, and discloses a method for processing motion data of a rope-driven serpentine manipulator with a gap between rope holes. Then use the Chebyshev polynomial to fit the gap coefficient; then use the gap coefficient to solve the theoretical rope length from the actual length of the rope, and solve the joint motion state from the theoretical rope length, and solve the workspace state from the joint space. Solve the forward kinematics; then solve the joint state from the workspace state, and calculate the theoretical rope length from the joint angle, and use the gap coefficient to calculate the actual rope length to solve the inverse kinematics. The method of the present invention is simple in operation, and can improve the control accuracy of the rope-driven serpentine arm with the gap between the rope holes. Compared with the traditional method that does not consider the gap between the rope holes, the method of the present invention can effectively improve the control accuracy of the rope-driven serpentine arm with the gap between the rope holes. The control accuracy is 20%.

Description

technical field [0001] The invention belongs to the technical field of robot control, and in particular relates to a method for processing motion data of a rope-driven serpentine mechanical arm with a gap between rope holes. Background technique [0002] At present, the rope-driven snake-like manipulator with a rope-hole gap: the rope-driven snake-like manipulator is a continuous robot. Compared with the traditional rigid robot, the rope-driven snake-like manipulator has good environmental adaptability, especially in the It can move flexibly in an unstructured environment and in a small space, and is currently widely used in medical operations, disaster rescue, space exploration, maintenance and assembly in a small space, etc. The rope-driven snake-like manipulator coordinates and controls the length of multiple ropes to adjust the joint angle, thereby controlling its workspace pose. The kinematics model is used to describe the mapping relationship between the rope motion, ...

AI Technical Summary

Problems solved by technology

[0007] (1) In the prior art, in the movement of the rope-driven snake-shaped manipulator with the gap between the rope holes, the precise data control error of the rope-driven snake-shaped manipulator is large

[0008] (2) In the prior art, the numerical solution accuracy of over-constrained nonlinear equations containing measurement disturbance is greatly affected by the termination condition

[0009] (3) In the prior art, there is no modeling and calculation model for the rope hole in the complex rope drive mechanism

[0011] (1) The joint angle accuracy of the rope-driven snake-like manipulator is sensitive to the value of the rope length, and the change of the rope length has a great influence on the joint angle and the terminal attitude positioning accuracy

[0012] (2) When the termination condition setting error is large, the calculation result is inaccurate, and when the termination condition setting error is small, it is easy to fall into the solution "dead loop" at the extreme point

[0013] (3) The modeling and calculation of the rope hole model involves multiple factors such as the material properties of the rope itself and the geometric properties of the rope hole, which is difficult to consider as a whole

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