Planar three-arc configuration planning method and system of coaxial rope-driven robot and computer storage medium

Abstract

The invention provides a planar three-arc configuration planning method and system for a coaxial rope-driven robot and a computer storage medium. According to the method, parameterization processing is carried out on the coaxial rope-driven robot, and several special points of the coaxial rope-driven robot are defined as a near-end control point, a far-end control point, a key control point, a free control point and a connection control point; and then position coordinates of the near-end control point and the far-end control point, corresponding tangent vector directions and center coordinates of curvature circles are given, and then C-type, S-type and double-S-type whole arm configurations are solved. Results show that the method can provide reasonable inverse kinematics and configuration planning, and the planar three-arc configuration planning method is high in calculation efficiency. Therefore, the method has obvious advantages in real-time control.

Description

Technical Field

[0001] The invention relates to the field of robot control, in particular to a planar three-arc configuration planning method and system for a coaxial rope-driven robot, and a computer storage medium. Background Art

[0002] Coaxial rope-driven robots have the advantages of small size, good flexibility, and strong load-bearing capacity. Their actual working environment is often more complex, and they are also more widely used in minimally invasive surgeries.

[0003] First, the strategy of determining the appropriate configuration of the robot by considering position parameters and tangent vector directions has been widely studied. Some researchers have proposed an effective kinematic modeling method that captures the macroscopic geometric characteristics of the robot by considering the backbone curve, and controls multiple planning parameters through the modal method to achieve efficient calculation of inverse kinematics characteristics. However, it is still very challenging to use this method to plan configuration in confined space. Some researchers have also proposed a planning method that considers the direction of the end effector to reduce the computational load of inverse kinematics and trajectory planning. For this method, the size and curvature changes of the manipulator are not suitable for the oral environment. A combined planning method of double arc curves and Bezier curves is considered to plan the motion trajectory of a coaxial cable-driven robot with a planar double arc structure. This method can simultaneously control the end posture, end direction and configuration.

[0004] Aiming at the novel configuration of 9-DOF coaxial rope-driven robot, this paper proposes a method for three-arc configuration planning in the plane. It provides an effective method for the configuration selection of coaxial rope-driven robot for clinical medical examination in restricted spaces such as human cavities. Compared with traditional robots with 6 or 7 degrees of freedom, rope-driven robots with redundant degrees of freedom have high flexibility and unique compliance to restricted environments. Therefore, the theoretical research and prototype design of coaxial rope-driven robots are increasingly valued in the fields of medical examination, medical surgery, medical rehabilitation, etc. The typical advantage of coaxial rope-driven robots is flexibility in confined spaces. However, the corresponding disadvantage is the complexity of their configuration planning. Summary of the invention

[0005] The present invention aims to solve at least one of the technical problems in the related art to a certain extent. To this end, one object of the present invention is to provide a planar three-arc configuration planning method and system for a coaxial rope-driven robot, and a computer storage medium for realizing the configuration planning of the coaxial rope-driven robot.

[0006] The technical solution adopted by the present invention is: a planar three-arc configuration planning method of a coaxial rope-driven robot, comprising the following steps;

[0007] Based on the established model, several special points of the coaxial rope-driven robot are parameterized and defined as proximal control points, distal control points, key control points, free control points and connection control points.

[0008] Input 6 parameters: near-end control point, far-end control point, near-end control point tangent vector, far-end control point tangent vector, near-end control point curvature circle center and far-end control point curvature circle center;

[0009] Draw corresponding tangent lines for the proximal control point and the distal control point;

[0010] Draw arcs corresponding to the proximal control point and the distal control point;

[0011] By inputting the coordinates of the proximal control point and the distal control point, the tangent vector and other parameters, the center distance of the curvature circle corresponding to the proximal control point and the distal control point and the radius difference between the two curvature circles are calculated;

[0012] Solve and calculate the trajectory of the free control point;

[0013] The value of the free control point is selected based on the calculated distance between the centers of the curvature circles corresponding to the proximal control point and the distal control point, the radius difference between the two curvature circles, and the trajectory line;

[0014] Solve and calculate the key control points and connection control points;

[0015] Based on the above calculated results, the whole arm configuration of the coaxial rope-driven robot is determined;

[0016] Another technical solution adopted by the present invention is: a planar three-arc configuration planning system of a coaxial rope-driven robot, comprising:

[0017] Basic unit, used to define each node and adjacent gap in the space as a basic unit;

[0018] A definition unit, used for defining several special points of the coaxial rope-driven robot as a proximal control point, a distal control point, a key control point, a free control point and a connection control point;

[0019] An input unit, used to input the coordinates of the proximal and distal control points of the coaxial rope-driven robot, the coordinates of the center of the curvature circle and the direction of the tangent vector;

[0020] A calculation unit, used for calculating corresponding parameters of the coordinates of the key control points, free control points and connection control points of the coaxial rope-driven robot;

[0021] The judgment unit is used to analyze and integrate the data output by the calculation unit to judge the whole arm configuration of the coaxial rope-driven robot.

[0022] Another technical solution adopted by the present invention is: a computer storage medium having a computer program stored thereon, wherein the program, when executed by a processor, implements the following steps:

[0023] Based on the established model, several special points of the coaxial rope-driven robot are parameterized and defined as proximal control points, distal control points, key control points, free control points and connection control points.

[0024] Input 6 parameters: near-end control point, far-end control point, near-end control point tangent vector, far-end control point tangent vector, near-end control point curvature circle center and far-end control point curvature circle center;

[0025] Draw corresponding tangent lines for the proximal control point and the distal control point;

[0026] Draw arcs corresponding to the proximal control point and the distal control point;

[0027] By inputting the coordinates of the proximal control point and the distal control point, the tangent vector and other parameters, the center distance of the curvature circle corresponding to the proximal control point and the distal control point and the radius difference between the two curvature circles are calculated;

[0028] The value of the free control point is selected based on the calculated distance between the centers of the curvature circles corresponding to the proximal control point and the distal control point and the radius difference between the two curvature circles;

[0029] Solve and calculate the key control points and connection control points;

[0030] The whole arm configuration of the coaxial rope-driven robot is determined based on the above calculated results.

[0031] The beneficial effects of the present invention are:

[0032] The present invention provides a planar three-arc configuration planning method and system of a coaxial rope-driven robot, and a computer storage medium. Based on the established model, several special points of the coaxial rope-driven robot are defined as proximal control points, distal control points, key control points, free control points, and connection control points. The whole arm configuration of the coaxial rope-driven robot is finally determined by the relationship between the center distance and radius difference of the curvature circle corresponding to the proximal control point and the distal control point, the rotation direction of the tangent vector corresponding to the proximal control point, the rotation direction of the tangent vector corresponding to the distal control point, and the calculation results of the special points. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 It is a schematic diagram of the inclusion of a C-type configuration of the whole arm kinematics of a coaxial rope-driven robot in the present invention;

[0034] Figure 2 It is a schematic diagram of the geometric relationship of the inner section coaxial rope drive mechanism of a coaxial rope drive robot in the present invention;

[0035] Figure 3 It is a schematic diagram of the S-shaped kinematic configuration of the whole arm of a coaxial rope-driven robot in the present invention;

[0036] Figure 4 It is a schematic diagram of the intersection of the S-shaped configuration of the whole arm kinematics of a coaxial rope-driven robot in the present invention;

[0037] Figure 5 It is a schematic diagram of the intersection of the C-shaped configuration of the whole arm kinematics of a coaxial rope-driven robot in the present invention;

[0038] Figure 6 It is a schematic diagram of the separation of the double S-shaped configuration of the whole arm kinematics of a coaxial rope-driven robot in the present invention; Figure 7 It is a schematic diagram of the process of a coaxial rope-driven robot in the present invention; DETAILED DESCRIPTION

[0039] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application may be combined with each other.

[0040] Aiming at the configuration planning problem of a coaxial rope-driven robot in a working environment, a planar three-arc configuration planning method of a coaxial rope-driven robot is proposed, which includes the following steps:

[0041] By parameterizing the coaxial rope-driven robot;

[0042] refer to Figure 1 , Figure 1 Based on the established model, the three-arc control points in the plane are divided into proximal control points, distal control points, connection control points, key control points and free control points. The coordinates of the intersection of the coaxial rope drive mechanism and the constrained pipeline are defined as the proximal control point, and the coordinates of the proximal and distal tips are defined as the proximal control point and the distal control point. The tangent vector of the proximal control point and the tangent vector of the distal control point are the tangents passing through the proximal control point and the distal control point, respectively. Figure 1 As shown in the figure, the input of the three-arc configuration planning method is the proximal control point, the distal control point, the tangent vector of the proximal control point, the tangent vector of the distal control point, the center of the curvature circle of the proximal control point and the center of the curvature circle of the distal control point. The output will be the corresponding curve that meets the requirements. Figure 1 This is the inclusion case of the C-type configuration, where the three plane arcs have two curvature circles and the two curvature circles maintain an inclusion position relationship.

[0043] refer to Figure 2 , Figure 2 It indicates the angles corresponding to arcs P4P5P6, and gives a method for calculating the connection control points of three arcs in the plane. This method determines the connection control points by inputting the coordinates of the center of the curvature circle. Figure 2As shown, point P4 is the intersection control point between segment P6 and segment O5P5.

[0044] refer to Figure 3 ,exist Figure 3 The free control point is restricted to a calculated trajectory line. The range of the free control point depends on the direction between the tangent vector of the proximal control point and the tangent vector of the distal control point, and different values ​​of the free control point will determine different whole arm configurations of the coaxial cable-driven robot.

[0045] For further reference, Figure 4 , when planning a three-arc configuration in a plane, the direction of the tangent vector of the far control point affects the critical position of the free control point. This method restricts the position of the free control point according to the direction of the tangent vector. Therefore, when the free control point is adjusted, it changes within the range defined by the trajectory line. Figure 4 As shown, the free control point P3 moves from point V1 to point V2 along the straight line V1V2.

[0046] As a further design of the technical solution, refer to Figure 5 It is a schematic diagram of the different curvatures of the coaxial rope-driven robot under different curvature parameters in the present invention; the bending parameter T is an effective parameter for adjusting the planar three-arc structure, and the overall curvature of the planar three-arc configuration can be modified by adjusting the bending parameter T. The bending parameter T can also adjust the position of the free control point P3. The proportions of each coaxial rope-driven robot mechanism can also be adjusted according to the value of the bending parameter. When the bending parameter T increases, the free control point P3 will move toward V2. Taking the intersection of the C-type configuration as an example, the influence of different bending parameters on the planar three-arc configuration is shown as follows. Figure 5 shown.

[0047] In summary, under the premise of meeting the requirements of the coaxial rope-driven robot with a planar three-arc structure, a planar three-arc configuration planning method is proposed. According to the calculations provided in this paper, the planar three-arc is controlled by six input parameters: the proximal control point, the distal control point, the proximal control point tangent vector, the distal control point tangent vector, the proximal control point curvature circle center and the distal control point curvature circle center. By considering the positional relationship between the two curvature circles, the whole arm configuration of the coaxial rope-driven robot can be determined, and a planar three-arc configuration planning method is proposed. In the planar three-arc configuration planning process, this method divides the positional relationship between the curvature circles into three categories: inclusion, separation and intersection, and the whole arm configuration is divided into C-type, S-type and double S-type. This method can control the planar three-arc by optimizing the given overall input parameters. Reference Figure 6 , the separation of the double S-type configuration was obtained by adjusting the parameters.

[0048] The following is a detailed analysis of the configuration calculation process of the coaxial rope-driven robot:

[0049] (1)Reference Figure 1, Figure 1 For the inclusion of the C-type configuration, the three arcs in the plane have two curvature circles and the two curvature circles maintain an inclusion position relationship. The control points P1, P2 and P3 are collinear and P3, P4 and P5 are also collinear. The relationship between the control point segments can be obtained, as shown in formula (1):

[0050]

[0051] Based on the input basic parameters, the position of the free control point P3 can be preliminarily determined. Without losing the generality, this paper sets the free control point as an adjustable parameter, and assumes the coordinates of the free control point P3 are [x, y] T , the center coordinates of the curvature circles O1 and O5 are set to and According to the given conditions, it can be inferred that:

[0052]

[0053] Furthermore, formula (2) can be simplified as:

[0054]

[0055] in,

[0056] The free control point P3 is restricted by equations (2) and (3). By changing the range of the free control point P3, the planar three-arc structure can be adjusted.

[0057] The key control points P2 and P4 can be obtained based on the vector relationship in formula (1). Figure 2 As shown in Figure 1, one of the main steps in establishing the plane three-arc configuration is to determine the positions of the key control points P2, P4 and the connection control points P1, P5. The key control points are solved using the plane three-arc configuration planning numerical method, and the positions of the key control points are determined according to the range determined in formula (1).

[0058] (2)Reference Figure 2 , assuming that the free control point P3 is determined according to the determined range, Figure 2 It can be seen that the key control point P4 is the tangent point of the curvature circle and meets the condition of being tangent to the curvature circle O5.

[0059]

[0060] in,

[0061]

[0062] Combining equations (5), (6) and (7), we can obtain:

[0063]

[0064] a=1+K 2 (9)

[0065]

[0066] Therefore, the critical control point P4 can be solved by the following formula:

[0067]

[0068] Similarly, the critical control point P2 can also be solved by a similar method.

[0069] like Figure 3 As shown in the figure, the angles corresponding to the arcs P4P5P6 are shown, and a calculation method for the connection control points of the three arcs in the plane is given. The calculation method determines the connection control points by inputting the coordinates of the center of the curvature circle (i.e., O1 and O5). Point P in the figure m It is the crossing control point between segment P4P6 and segment O5P5.

[0070] P m =(P4+P6) / 2 (12)

[0071]

[0072] W=∠P6O5P4 / 2 (14)

[0073] in, It is the distance between the center of the curvature circle O5 and the connection control point P5.

[0074]

[0075] Combining the center of the curvature circle with equation (7), the coordinates of the connection control point P5 can be determined as:

[0076]

[0077] Similarly, other parameters of the triangular arc can also be calculated by the relationship between the vectors in equation (1). The connection control point P1 and the center of the curvature circle O3 can be determined by equations (17) and (18).

[0078]

[0079] Among them, P k =(P2+P4) / 2.

[0080] Without loss of generality, the plane three-arc curve can be expressed as a NURBS (non-uniform rational b-spline) curve of formula (19).

[0081]

[0082] Among them, the knot vector h and its corresponding elements are set as equation (20) and equation (21), and the weight N i,p and C i Assume equation (22), equation (23) and equation (24):

[0083] h={h0,h1,h2,···h m-1 ,h m} (20)

[0084]

[0085] The angle of the three arcs in the plane is p, and the relationship between n, m and p satisfies equation (25).

[0086] m=n+p+1 (25)

[0087] (3)Reference Figure 3 , Figure 3 For the inclusion of the S-shaped configuration, the three arcs in the plane have two curvature circles and maintain the positional relationship of inclusion. Figure 3 As shown in Figure 1, the free control point P3 is a point on the tangent line of the curvature circle and is restricted to the straight line shown in formula (3). In fact, the free control point P3 corresponds to different configurations at different positions on the straight line shown in formula (3). Assume that the tangent line intersects the straight line shown in formula (3) through point O1. In this paper, the intersection point is recorded as Similarly, assume that the tangent line passes through point O5 and intersects the straight line shown in equation (3) at another intersection point. This paper denotes the other intersection point as If the inequality satisfies |VV1|≤|VV2|, then set V=V1, otherwise V=V2.

[0088] Let D=|O1O5| represent the distance between the centers of the curvature circles of the inner and outer coaxial rope-driven robots.

[0089] The three arcs in the plane can be divided into the following three cases:

[0090] (a) When the input parameters satisfy D<R1-R5, the two curvature circles are in an inclusion relationship. According to the relative rotation direction between the proximal and distal tangent vectors (i.e., G1, G2), the three arcs of the plane containing the C-type or S-type configuration can be predetermined. When the proximal and distal tangent vectors rotate in the same direction around the center of their curvature circles, the whole arm configuration is a C-type inclusion case. In this case, the free control point P3 is located between point V1 and point V2.

[0091] P3=(1-T)V1+TV2,T∈(0,1) (26)

[0092] When the two tangent vectors (i.e., G1, G2) rotate in opposite directions around the centers of their respective curvature circles, the entire arm configuration forms an S-shape. In this case, the free control point P3 is located on the extension line along the direction of line V1V2, and the range of the ray coefficient is U∈(0,1).

[0093] P3=V+TU,T∈(0,+∞) (27)

[0094] (b) When the input parameters satisfy D>R1+R5, the two curvature circles are in a separation relationship. V1V2 is located between the two curvature circles, and the free control point P3 is located on the straight line where V1V2 is located. According to the relative rotation direction between the proximal and distal tangent vectors (i.e., G1, G2), the separation of the S-type or double S-type configuration can be predetermined. When the proximal and distal tangent vectors rotate in the same direction around the center of their respective curvature circles, the entire arm configuration is a double S-type separation. The free control point P3 is located on the extension line along the direction of the straight line V1V2, and the value range of the directional coefficient is T∈(0,3).

[0095] P3=V+TT,T∈(0,+∞) (28)

[0096] When the proximal and distal tangent vectors rotate in opposite directions around the centers of their respective curvature circles, the overall arm configuration is an S-shaped separation. The free control point P3 is located between point V1 and point V2.

[0097] P3=(1-T)V1+TV2,T∈(0,1) (29)

[0098] (c) When the input parameters satisfy R1-R5<D<R1+R5, the two curvature circles are in an intersecting relationship. In this case, the straight line V1V2 is located between the two curvature circles and intersects with the two curvature circles. Assume that the intersection of the two curvature circles and the straight line is point and Point Depending on the relative rotation direction between the proximal and distal tangent vectors (i.e., G1, G2), the intersection of the C-type or S-type configuration can be predetermined. When the proximal and distal tangent vectors rotate in the same direction around the center of their curvature circles, the whole arm configuration is a C-shaped intersection. The free control point P3 is located between points V1 and V2.

[0099] P3=(1-T)V+TA1,T∈(0,1) (30)

[0100] When the tangent vectors (i.e. G1, G2) corresponding to the proximal control point and the distal control point rotate in opposite directions around the center of the curvature circle, the entire arm is configured into an S-shaped intersection. The free control point P3 is located on the extension line along the direction of line V1V2.

[0101] P3=(1-T)V1+TA1,T∈(0,1) (31)

[0102] (4) The value range of the free control point P3 depends on the relative rotation direction between the tangent vectors corresponding to the proximal control point and the distal control point. When performing planar three-arc configuration planning, the direction of the distal tangent vector will affect the critical position of the free control point P3. This method limits the position of the free control point P3 according to the direction of the tangent vector, as shown in equation (3). Therefore, when the free control point P3 is adjusted, it changes within the range defined by the straight line in equation (3). Figure 4 As shown, the free control point P3 generally moves from point V1 to point V2 along straight line V1V2.

[0103] (5) The bending parameter T is an effective parameter that can be changed to adjust the planar three-arc structure. By adjusting the bending parameter T, the overall curvature of the planar three-arc configuration can be modified. The bending parameter T can also adjust the position of the free control point P3. Taking the intersection of the C-type configuration as an example, the influence of different bending parameters on the planar three-arc configuration is as follows: Figure 5 As shown. The proportions of the various mechanisms of the coaxial rope-driven robots can also be adjusted according to different values ​​of the bending parameter. When the bending parameter T increases, the free control point P3 moves toward point V2.

[0104] The greater the distance between the connecting control points (i.e., P2, P4) and the distal control point (i.e., P6), the shorter the distance between the inner and outer coaxial rope-driven robot mechanisms. As the bending parameter T increases, the coaxial rope-driven robot mechanism in the middle becomes longer and more curved. Therefore, with the implementation of the planar three-arc configuration planning method, the coaxial rope-driven robot can flexibly reach any target point.

[0105] (6) On the premise of meeting the requirements of the coaxial rope-driven robot with a planar three-arc structure, a planar three-arc configuration planning method is proposed. According to the calculations provided in this paper, the planar three-arc is controlled by six input parameters: the proximal control point, the distal control point, the proximal control point tangent vector, the distal control point tangent vector, the proximal control point curvature circle center, and the distal control point curvature circle center. This paper proposes a planar three-arc configuration planning method by considering the positional relationship between the two curvature circles. By evaluating the relationship between the two curvature circles, the whole arm configuration of the planar three-arc can be determined.

[0106] In the process of three-arc configuration planning, this method divides the positional relationship between the curvature circles into three categories: inclusion, separation and intersection, and the whole arm configuration is divided into C-type, S-type and double S-type. This method can control the three-arc plane by optimizing the given overall input parameters.

[0107] In this paper, we use the separation relationship of two curvature circles as an example. When the relationship between the two curvature circles satisfies D>R1+R5, and the relative rotation direction between the tangent vectors corresponding to the proximal control point and the distal control point is consistent, the planar three-arc configuration can be transformed by adjusting the bending parameter T and the free control point P3. Figure 6 As shown, the figure shows the separation of the double S-type configuration.

[0108] Based on the above method, the present invention also provides a planar three-arc configuration planning system for a coaxial rope-driven robot, comprising:

[0109] Basic unit, used to define each node and adjacent gap in the space as a basic unit;

[0110] A definition unit, used for defining several special points of the coaxial rope-driven robot as a proximal control point, a distal control point, a key control point, a free control point and a connection control point;

[0111] An input unit, used for inputting the proximal control point, the distal control point, the proximal control point tangent vector, the distal control point tangent vector, the proximal control point curvature circle center and the distal control point curvature circle center of the coaxial rope-driven robot;

[0112] A calculation unit, used for calculating corresponding parameters of the coordinates of the key control points, free control points and connection control points of the coaxial rope-driven robot;

[0113] The judgment unit is used to analyze and integrate the data output by the calculation unit to judge the whole arm configuration of the coaxial rope-driven robot.

[0114] Another technical solution adopted by the present invention is: a computer storage medium having a computer program stored thereon, wherein the program, when executed by a processor, implements the following steps:

[0115] Based on the established model, several special points of the coaxial rope-driven robot are parameterized and defined as proximal control points, distal control points, key control points, free control points and connection control points.

[0116] Input 6 parameters: near-end control point, far-end control point, near-end control point tangent vector, far-end control point tangent vector, near-end control point curvature circle center and far-end control point curvature circle center;

[0117] Draw corresponding tangent lines for the proximal control point and the distal control point;

[0118] Draw arcs corresponding to the proximal control point and the distal control point;

[0119] By inputting the coordinates of the proximal control point and the distal control point, the tangent vector and other parameters, the center distance of the curvature circles corresponding to the proximal control point and the distal control point and the radius difference between the two curvature circles are solved and calculated.

[0120] The value of the free control point is selected based on the calculated distance between the centers of the curvature circles corresponding to the proximal control point and the distal control point and the radius difference between the two curvature circles;

[0121] Solve and calculate the key control points and connection control points;

[0122] The whole arm configuration of the coaxial rope-driven robot is determined based on the above calculated results.

[0123] The working process of the computer program stored in the computer storage medium can refer to the specific description of the planar three-arc configuration planning method of the above-mentioned coaxial cable-driven robot, which will not be repeated here.

[0124] In the present invention, a planar three-arc configuration planning method is proposed for a novel configuration with 9 degrees of freedom. The method performs parameter processing on the coaxial rope-driven robot, defines several special points of the robot as proximal control points, distal control points, key control points, free control points and connection control points, and then gives the position coordinates of the proximal control points and the distal control points, as well as the corresponding tangent vector directions and the center coordinates of the curvature circle, to solve the C-type, S-type and double S-type whole arm configurations.

[0125] At the same time, a planar three-arc configuration planning method for a coaxial rope-driven robot is proposed. The method proposed in the present invention can also easily solve the planning and control problems of three common types of robotic arms. In the future, further research on the method of spatial dexterous configuration planning will be carried out to provide more configuration planning strategies for clinical examinations.

[0126] The above is a specific description of the preferred implementation of the present invention, but the invention is not limited to the embodiments. Those skilled in the art can make various equivalent modifications or substitutions without violating the spirit of the present invention. These equivalent modifications or substitutions are all included in the scope defined by the claims of this application.

Claims

1. Planar three-arc configuration planning method for coaxial rope-driven robots: The designed coaxial rope-driven robot is parameterized; For the designed coaxial rope-driven robot, the whole arm configuration of the coaxial rope-driven robot can be adjusted by adjusting the parameters of the three arcs in the plane. The inverse kinematics of the designed coaxial rope-driven robot arm are solved, and the C-type, S-type and double S-type planar three-arc configuration planning solutions are carried out.

2. The kinematic solution of the coaxial rope-driven robot according to claim 1 is characterized in that: Several special points of the coaxial rope-driven robot are defined as proximal control points, distal control points, key control points, free control points and connection control points.

3. The planar three-arc configuration planning method of a coaxial rope-driven robot according to claim 1, wherein the configuration design is: The whole arm configuration of the coaxial rope-driven robot can be adjusted by changing the tangent vector direction between the proximal control point and the distal control point and adjusting the center distance between the two curvature circles corresponding to the proximal control point and the distal control point.

4. The inverse kinematics solution method of the coaxial rope-driven robot whole arm according to any one of claims 1 to 3, characterized in that: Realize the inverse kinematics solution of the whole arm of the coaxial rope-driven robot, determine whether the center distance between the two curvature circles corresponding to the proximal control point and the distal control point of the coaxial rope-driven robot is less than the radius difference and whether the corresponding tangent vectors have the same relative rotation direction; if the judgment result is yes, determine that the whole arm configuration of the coaxial rope-driven robot is C-type.

5. The inverse kinematics planning method for the whole arm of a coaxial rope-driven robot according to any one of claims 1 to 3, characterized in that: Firstly, the whole arm configuration of the coaxial rope-driven robot is judged, and then the inverse kinematics of the whole arm is solved through the configuration.

6. A planar three-arc configuration planning system for a coaxial rope-driven robot, characterized in that it includes: Basic unit, used to define each node and adjacent gap in the space as a basic unit; A definition unit, used for defining several special points of the coaxial rope-driven robot as a proximal control point, a distal control point, a key control point, a free control point and a connection control point; An input unit, used for inputting the proximal control point, the distal control point, the proximal control point tangent vector, the distal control point tangent vector, the proximal control point curvature circle center and the distal control point curvature circle center of the coaxial rope-driven robot; A calculation unit, used for calculating corresponding parameters such as coordinates of free control points, key control points and connection control points of the coaxial rope-driven robot; The judgment unit is used to analyze and integrate the data output by the calculation unit to judge the whole arm configuration of the coaxial rope-driven robot.

7. A computer storage medium, characterized in that: A computer program is stored thereon, and when the program is executed by a processor, the following steps are implemented: Based on the established model, several special points of the coaxial rope-driven robot are parameterized and defined as proximal control points, distal control points, key control points, free control points and connection control points. Input 6 parameters: near-end control point, far-end control point, near-end control point tangent vector, far-end control point tangent vector, near-end control point curvature circle center and far-end control point curvature circle center; Draw corresponding tangent lines for the proximal control point and the distal control point; Draw arcs corresponding to the proximal control point and the distal control point; By inputting the coordinates of the proximal control point and the distal control point, the tangent vector and other parameters, the center distance of the curvature circle corresponding to the proximal control point and the distal control point and the radius difference between the two curvature circles are calculated; Determine the value of the free control point based on the calculated distance between the centers of the curvature circles corresponding to the proximal control point and the distal control point and the radius difference between the two curvature circles; The plane three-arc configuration planning method is used to solve the key control points and connection control points; The whole arm configuration of the coaxial rope-driven robot is determined based on the above calculated results.

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