一种绳驱超冗余蛇形机械臂关节控制方法、介质、设备
By establishing the DH coordinate system of the rope-driven super-redundant serpentine manipulator and constructing the mapping relationship between rope force and length, a parallel PID controller was designed to solve the problem of rope force control in the rope-driven super-redundant serpentine manipulator, improve control accuracy and system stability, and achieve effective control of rope force.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- CHINA UNIV OF GEOSCIENCES (WUHAN)
- Filing Date
- 2024-07-22
- Publication Date
- 2026-07-17
AI Technical Summary
Existing technologies lack effective control over the rope force of rope-driven, ultra-redundant serpentine robotic arms, resulting in low control accuracy and poor system stability, making it unable to effectively cope with complex load changes and external disturbances.
A DH coordinate system for a rope-driven, super-redundant serpentine robotic arm is established, and a mapping relationship between rope force and length is constructed. A parallel PID controller is designed to perform closed-loop control of joint angles and rope force, including rope length and force control. Effective control of rope force is achieved through the combination of a rope force controller and a rope length controller.
It improves the control accuracy and system stability of the rope-driven super-redundant serpentine robotic arm, shortens the control time, increases the response rate, ensures that the rope force is within a reasonable range, and avoids rope slack or breakage.
Smart Images
Figure CN118927237B_ABST