Track following motion planning method and system for continuum robot

A technology of following motion and planning system, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problem of low control accuracy, and achieve the effect of accurate trajectory tracking and short time-consuming solution.

Active Publication Date: 2021-10-19
HUAZHONG UNIV OF SCI & TECH
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  • Claims
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Problems solved by technology

[0005] In view of the defects of related technologies, the purpose of the present invention is to provide a trajectory following motion planning method and system for a continuum robot, aiming at solving the problem of low control accuracy of the continuum robot when performing trajectory following through a narrow cavity

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  • Track following motion planning method and system for continuum robot
  • Track following motion planning method and system for continuum robot

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Embodiment Construction

[0046] In order to make the object, technical solution and advantages 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. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not constitute a conflict with each other.

[0047] The content involved in the above embodiment will be described below in conjunction with a preferred embodiment.

[0048] S1: define the cavity mouth coordinate system {O 0}, the end coordinate system of the continuum robot {O 1} and base coordinate system {O 2}, the requirements for defining the coordinate system are as follows:

[0049] The coordinate system of the entrance of the c...

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Abstract

The invention discloses a track following motion planning method and system for a continuum robot, and belongs to the field of continuum robot obstacle avoidance algorithms. The method comprises the following steps: defining a cavity opening coordinate system, a tail end coordinate system and a base coordinate system; and according to the internal environment of a cavity, setting joint parameters of a target state of the continuum robot to obtain a target track, wherein the joint parameters comprise the included angles thetai between the tangent lines of the tail ends of bent joint sections and the positive direction of the Z axis of the base coordinate system {O2} and the rotating angles of the projections of the central axes of single joints on the OXY plane of the base coordinate system {O2} to the positive direction of the X axis of the base coordinate system {O2}; and dividing the target track into three arc track sections which are connected end to end, and dividing each arc track section into multiple sections of stepping motion for following. According to the track following motion planning method and system for the continuum robot, a trajectory following obstacle avoidance algorithm has a good control effect, and is short in solving time, and the continuum robot adopting the algorithm can pass through the narrow cavity to reach a designated position without collision.

Description

technical field [0001] The invention belongs to the field of obstacle avoidance algorithms for continuum robots, and more particularly relates to a trajectory following motion planning method and system for continuum robots. Background technique [0002] In the field of modern industrial engineering, robots have been widely used in many work scenarios, such as: processing and manufacturing, production and manufacturing, logistics sorting, inspection and maintenance, etc. However, when faced with complex and narrow working environments such as aircraft fuel tank endoscopic inspection, engine maintenance inspection, and single-hole surgery, this type of industrial engineering robot is limited by its large size and insufficient dexterity. , can no longer meet the needs of such application scenarios. [0003] Compared with traditional robots, the motion of continuum robots is not in the form of rotation or translation around joints, but is generated by bending and deformation o...

Claims

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Application Information

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IPC IPC(8): B25J9/16B25J17/02
CPCB25J9/1664B25J17/02
Inventor 赵兴炜陶波胡尔康侯立成
Owner HUAZHONG UNIV OF SCI & TECH
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