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Modeling method for solving inverse solution of pneumatic soft robot based on KD tree algorithm

A modeling method and robot technology, applied in geometric CAD, design optimization/simulation, etc., can solve complex problems of soft robots

Inactive Publication Date: 2022-04-12
ZHEJIANG UNIV OF TECH +3
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Problems solved by technology

[0003] However, compared with traditional rigid robots, the solution of soft robots is also more complicated, especially the inverse solution of soft robots, that is, the virtual joint space is reversed from the work space and then related to the drive space.

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  • Modeling method for solving inverse solution of pneumatic soft robot based on KD tree algorithm
  • Modeling method for solving inverse solution of pneumatic soft robot based on KD tree algorithm
  • Modeling method for solving inverse solution of pneumatic soft robot based on KD tree algorithm

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Embodiment 1

[0041] In this embodiment, the pneumatic soft bellows manipulator is taken as an example. The manipulator is mainly composed of three parts, an upper curved part, a lower curved part, and a gripper part. Among them, the upper and lower curved parts are only responsible for bending. The gripper part is responsible for grabbing objects at the target point.

[0042] Step 1. Use the structure of the soft robot to establish a forward kinematics formula. According to the soft robot, the assumption of constant curvature and the shortest length are made, and the forward motion can be deduced by using the two mapping relationships of drive space, virtual joint space and work space learning formula;

[0043] The assumption based on the constant curvature model is that the curvature of the bending section is constant and the assumption of the shortest length. The assumption of the shortest length is that there is always a cavity in the bellows that maintains the maximum negative pressur...

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Abstract

The invention discloses a modeling method for solving inverse solution of a pneumatic soft robot based on a KD tree algorithm, which comprises the following steps of: 1, making a segmented constant curvature hypothesis, a shortest length hypothesis and a deflection angle coplanar hypothesis, and establishing a forward kinematics formula; 2, randomly generating a large amount of data according to a forward kinematics formula; 3, dividing a space coordinate part by using a KD tree, establishing the KD tree, and associating a space coordinate with a virtual joint variable; 4, substituting the coordinates of the target to be grabbed, searching a nearest point, and searching a virtual joint variable associated with the nearest point; and 5, the virtual joint variable and the driving space variable are converted through a conversion formula, and an inverse solution of the soft robot is obtained. A KD tree algorithm is used for solving the matching problem of a large amount of three-dimensional data in the solving process, a nearest point conforming to a range error range is found out through database searching, and an inverse solution is solved according to two mapping relations from a working space to a virtual joint space and then to a driving space.

Description

technical field [0001] The invention specifically relates to a modeling method for solving the inverse solution of a pneumatic soft robot based on a KD tree algorithm. Background technique [0002] With the development of science and technology, robots are gradually extending from traditional manufacturing to other fields, and are gradually popularized and applied in military, medical, educational and other fields. However, it is increasingly difficult for traditional rigid structure robots to meet people's needs for diverse machine functions. Therefore, relevant researchers have drawn inspiration from nature and gradually developed bionic robots. Compared with traditional rigid robots, biomimetic soft robots have higher degrees of freedom and can move in unstructured environments. And soft robots also have more flexible advantages than traditional rigid robots in avoiding obstacles. [0003] However, compared with traditional rigid robots, the solution of soft robots is a...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06F30/17G06F30/20
Inventor 王国强方飞都张弘钟美鹏吕迅王国华
Owner ZHEJIANG UNIV OF TECH
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