Control method of soft continuous robot under arbitrary spatial constraint

A control method and robot technology, applied in the direction of program control of manipulators, manipulators, manufacturing tools, etc., can solve problems affecting the safety and reliability of robot operations, achieve convergence and stability, avoid singular value problems, and ensure uniqueness sexual effect

Active Publication Date: 2022-05-13
SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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AI Technical Summary

Problems solved by technology

Due to its high flexibility and inherent compliance, in the existing soft continuous robot control methods, the soft continuous robot will have a large bending deformation when it contacts with the environment, and the deformation generated without considering the environmental constraints The control of soft continuous robots in the case of bending and deformation will seriously affect the safety and reliability of robot operations

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  • Control method of soft continuous robot under arbitrary spatial constraint
  • Control method of soft continuous robot under arbitrary spatial constraint
  • Control method of soft continuous robot under arbitrary spatial constraint

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Embodiment Construction

[0066] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments.

[0067] Such as figure 2 As shown, the robot will be subject to various types of constraints in the space environment, such as point constraints, plane constraints, spherical constraints, ellipsoid constraints, etc.

[0068] Such as figure 1 Shown is the flow chart of the method of the present invention, a control method of a soft continuous robot under arbitrary constraints in space, comprising the following steps:

[0069] 1) According to the total energy E of the soft continuous robot t The balance equation to obtain the total energy E of the robot t The external force potential energy E p and elastic strain energy E e ;

[0070] 2) For the external force potential energy E of the soft continuous robot p and elastic strain energy E e Variation, get the external force potential energy E p The variational form of and the elastic stra...

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Abstract

The invention belongs to the field of soft continuous robot control, and particularly relates to a control method of a soft continuous robot under any spatial constraint. Comprising the following steps that firstly, variation of energy of the soft continuous robot is established, then an equilibrium equation is established based on a minimum energy method, discretization is conducted in a differential form through a finite difference method, and a closed nonlinear equation set is obtained; then establishing a balance equation of the contact position of the robot and the constraint surface, describing spatial constraint by adopting an inequality, and limiting the motion space of the robot; and solving the model by adopting a Lagrange multiplier method and a nonlinear least square method. And the length of each driving rod on the soft continuous robot is obtained through model solution. The soft continuous robot is controlled to act by adjusting the length of the driving rod. According to the method, the Lagrange multiplier method and the Levenberg-Marquardt algorithm are adopted for solving, and convergence and stability of the result of calculating the length of each driving rod are guaranteed.

Description

technical field [0001] The invention belongs to the field of soft continuous robot control, in particular to a control method of a soft continuous robot under arbitrary space constraints. Background technique [0002] Soft continuous robots inevitably come into contact with the environment when operating in complex environments. Due to its high flexibility and inherent compliance, in the existing soft continuous robot control methods, the soft continuous robot will have a large bending deformation when it contacts with the environment, and the deformation generated without considering the environmental constraints The control of the soft continuous robot under the condition of bending deformation will seriously affect the safety and reliability of the robot operation. Contents of the invention [0003] The purpose of the present invention is to provide a control method of a soft continuous robot under arbitrary space constraints, so as to realize the control of the soft c...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/1602
Inventor 刘玉旺陈鹏石文平彭海军徐文福于艺
Owner SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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