Establishment method and control method of mechanical model of soft manipulator

Abstract

The invention discloses a building method for a mechanical model of a soft mechanical arm and a control method. The building method comprises the following steps that a three-dimensional coordinate system is built at the bottom end of each soft driver, and the coordinate system at the bottom end of the first soft driver is a fixed bottom end coordinate system; any one soft driver is selected fromthe M soft drivers to serve as the q soft driver, the bending direction, the bending angle and the position coordinate of the i feature point in the coordinate system at the bottom end of theq soft driver are sequentially determined at the bottom end of the q soft driver, a mechanical model of the q soft driver is built, and mechanical models of the M soft drivers are built inthe same way; the position coordinates of the feature points on the M soft drivers are converted into the fixed bottom end coordinate system; and the mechanical model of the soft mechanical arm is built according to the mechanical models of the M soft drivers, the position coordinates of the feature points in the coordinate systems at the bottom ends of the soft drivers and the position coordinates of the feature points in the fixed bottom end coordinate system.

Description

Technical field [0001] The invention relates to the technical field of a soft manipulator, in particular, to a method for establishing a mechanical model of a soft manipulator, and in addition, it also relates to an open-loop control method and a closed-loop control method of the soft manipulator's spatial motion posture. Background technique [0002] The research of soft manipulators is mainly inspired by the movement patterns of mollusks in nature (such as octopus, elephant trunk, etc.), through the use of soft materials with pneumatic control systems to achieve super-redundant and infinite degrees of freedom of soft motion. Due to its flexible structure characteristics, the soft manipulator has the advantages that the rigid manipulator is difficult to match in terms of complex unknown environment detection and friendly human-machine interaction. The existing soft manipulator arm controls the inflation and deflation of the airbag cavity to realize the movement of the soft manip...

AI Technical Summary

Problems solved by technology

[0003] The present invention provides a method for establishing a mechanical model of a soft manipulator and a control method to solve the technical problem that the spatial movement posture of an air-controlled rigid-flexible coupling modular soft manipulator cannot be accurately controlled

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