Continuum Robot Kinematic Correction for Branched Path Accuracy
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Solution Overview
Problem
Continuum robots face significant challenges in efficiently tracking branched trajectories due to increased processing time and storage requirements, and existing methods do not effectively improve control accuracy for path tracking.
Innovation Solution
A modified kinematic model is introduced that considers continuity between curvable portions, allowing for the extraction of unbranched trajectories from branched ones, and an optimization algorithm is used to calculate modification coefficients, reducing the need for large tables and improving control accuracy by real-time adjustment of curved shapes.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a trajectory has branched sections and the number of trajectories is increased to cover all paths, then the robot can navigate complex branched structures, but the processing time and storage capacity required for path tracking increase significantly
Solution Approach 1:
The patent divides the complex branched trajectory into multiple unbranched trajectory segments. Each segment is processed independently using simplified control calculations, avoiding the need to compute all possible branched paths simultaneously. This segmentation reduces the factorial growth of computational complexity while maintaining the ability to navigate complex structures.
Solution Approach 2:
The patent applies partial action by computing only the necessary trajectory segments that the robot will actually traverse, rather than pre-calculating all possible branched paths. The control system processes trajectory data in a sequential manner, calculating positions only for the current and immediately needed segments, thereby reducing overall processing time and storage requirements.
2Adaptability or versatility
If a trajectory has branched sections and all possible paths are evaluated, then complete path coverage is achieved, but the storage capacity needed for processing increases significantly
Solution Approach 1:
The patent extracts and processes only the essential trajectory information needed for current navigation, separating necessary path data from redundant alternative paths. By extracting minimal sufficient trajectory segments and processing them on-demand, the system reduces storage requirements while maintaining navigation capability across branched structures.
Solution Approach 2:
The patent implements dynamic trajectory processing where the computation and storage requirements adapt to the robot's current position and immediate navigation needs. Rather than statically storing all possible branched paths, the system dynamically generates and processes trajectory segments as needed, reducing overall storage capacity requirements.
3Productivity
If existing control methods are used for branched trajectories, then path tracking can be performed, but control accuracy deteriorates due to increased processing complexity
Solution Approach 1:
The patent segments the complex branched trajectory into simpler unbranched segments, allowing each segment to be processed with higher precision control calculations. This segmentation enables the use of more accurate control algorithms on individual segments without being overwhelmed by the complexity of the entire branched path, thereby improving overall control accuracy.
Solution Approach 2:
The patent performs preliminary processing of trajectory segments to pre-calculate optimal control parameters and positions before execution. By preparing control data in advance for each unbranched segment, the system reduces real-time computational burden and improves control accuracy through more thorough pre-computation of trajectory parameters.
Data Source
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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.