The International Journal of Robotics Study, Ahead of Publish.
Course monitoring of continuum robotics is an essential and essential trouble throughout different applications. In this write-up, we resolve this trouble by concentrating on 3 facets. First of all, we recommend a reliable multi-solution inverted kinematics solver for three-section continuous curvature robotics by linking the academic decrease and the mathematical modification. Second of all, we obtain a straight tendon-driven actuation version, developing the link in between the robotic arrangement room and the actuator room. With this version, we attain ideal range preparation and ideal time appropriation taking into consideration the restrictions of actuator speed and velocity, producing a constant trajectory straight in the actuator room. Ultimately, we provide our kinematic course monitoring structure, that includes offline ideal trajectory preparation and online feedforward and comments control. Experiments are performed both in simulations and in the real life on our three-section tendon-driven continuum robotic. The experiments confirm the boosted effectiveness, greater success prices, and availability of several remedies used by our inverted kinematics solver, in addition to the optimality in range preparation and time appropriation in the actuator room. Efficiency renovations in tracking precision are shown via relative experiments and the application of our structure in course monitoring jobs with barriers exists via a study.
发布者：Ke Qiu，转转请注明出处：https://robotalks.cn/an-actuator-space-optimal-kinematic-path-tracking-framework-for-tendon-driven-continuum-robots-theory-algorithm-and-validation/
