Continuum Robot Kinematic Model Updates for Branched Path Tracking
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Solution Overview
Problem
Continuum robots face significant challenges in efficiently tracking branched trajectories due to increased processing time and storage capacity requirements, and existing methods do not adequately improve control accuracy for path tracking.
Innovation Solution
A continuum robot with a kinematic model modification unit that calculates and synthesizes modification values based on target and measured positions, allowing for real-time control of curving angles and shapes, reducing the need for large tables and improving control accuracy by extracting unbranched trajectories from branched ones.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a trajectory has branched sections and conventional methods are used to improve accuracy in path tracking by evaluating areas with respect to trajectories, then control accuracy is improved, but processing time and storage capacity needed significantly increase
Solution Approach 1:
The patent divides the branched trajectory into multiple unbranched trajectories, processing each segment separately. This segmentation allows the system to handle complex paths without computing the entire branched trajectory simultaneously, reducing processing time while maintaining accuracy through localized area evaluations of each unbranched segment
Solution Approach 2:
The patent extracts unbranched trajectories from the overall branched trajectory structure. By isolating and processing individual unbranched segments rather than the complete branched path, the system reduces storage requirements and processing complexity while preserving the ability to accurately track along each segment
2Measurement precision
If a trajectory has branched sections and conventional methods are used to improve accuracy in path tracking by evaluating areas with respect to trajectories, then control accuracy is improved, but storage capacity needed significantly increases
Solution Approach 1:
The patent segments the branched trajectory into multiple unbranched trajectories, storing and processing each segment independently. This reduces the total storage capacity required compared to storing complete branched trajectory data with all possible paths, while maintaining control accuracy through precise area evaluation of each unbranched segment
Solution Approach 2:
The patent extracts only the necessary unbranched trajectory segments from the complete branched path, storing minimal required data for each segment rather than all possible trajectory variations. This extraction approach reduces storage capacity requirements while preserving sufficient information for accurate control
3Productivity
If existing methods are used for path tracking control, then basic navigation is achieved, but control accuracy for branched trajectories is not adequately improved
Solution Approach 1:
The patent implements feedback mechanisms by continuously evaluating the area between the robot's actual position and the target unbranched trajectory, and adjusting control inputs accordingly. This feedback loop improves control accuracy for branched trajectories by correcting deviations in real-time as the robot navigates through segmented path segments
Solution Approach 2:
The patent dynamically adjusts control parameters based on the specific characteristics of each unbranched trajectory segment being traversed. By adapting control strategies to the local geometry and requirements of each segment rather than using fixed control parameters, the system achieves improved control accuracy across varied branched trajectory configurations
Data Source
AI summary
To provide a technology of reducing a difference with respect to a target position of a curvable portion of a continuum robot which is to move forward substantially along a trajectory including a branched trajectory and a space. A continuum robot includes a plurality of curvable portions separately driven by wires, and control units which control positions of a plurality of curvable portions in accordance with a kinematic model. A modification value for modifying the kinematic model based on a target position and a measured position about each of the cases in which the plurality of curvable portions take a plurality of positions having at least one intersection is calculated. Modification uses a modification result in at least one of the plurality of positions as an initial value to modify the kinematic model in another position, and synthesizes the plurality of modification values.