Looking for breakthrough ideas for innovation challenges? Try Patsnap Eureka!

Track following motion planning method and system for continuum robot

A technology of following motion and planning system, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problem of low control accuracy, and achieve the effect of accurate trajectory tracking and short time-consuming solution.

Active Publication Date: 2021-10-19
HUAZHONG UNIV OF SCI & TECH
View PDF5 Cites 0 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] In view of the defects of related technologies, the purpose of the present invention is to provide a trajectory following motion planning method and system for a continuum robot, aiming at solving the problem of low control accuracy of the continuum robot when performing trajectory following through a narrow cavity

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Track following motion planning method and system for continuum robot
  • Track following motion planning method and system for continuum robot

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0046] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not constitute a conflict with each other.

[0047] The content involved in the above embodiment will be described below in conjunction with a preferred embodiment.

[0048] S1: define the cavity mouth coordinate system {O 0}, the end coordinate system of the continuum robot {O 1} and base coordinate system {O 2}, the requirements for defining the coordinate system are as follows:

[0049] The coordinate system of the entrance of the c...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The invention discloses a track following motion planning method and system for a continuum robot, and belongs to the field of continuum robot obstacle avoidance algorithms. The method comprises the following steps: defining a cavity opening coordinate system, a tail end coordinate system and a base coordinate system; and according to the internal environment of a cavity, setting joint parameters of a target state of the continuum robot to obtain a target track, wherein the joint parameters comprise the included angles thetai between the tangent lines of the tail ends of bent joint sections and the positive direction of the Z axis of the base coordinate system {O2} and the rotating angles of the projections of the central axes of single joints on the OXY plane of the base coordinate system {O2} to the positive direction of the X axis of the base coordinate system {O2}; and dividing the target track into three arc track sections which are connected end to end, and dividing each arc track section into multiple sections of stepping motion for following. According to the track following motion planning method and system for the continuum robot, a trajectory following obstacle avoidance algorithm has a good control effect, and is short in solving time, and the continuum robot adopting the algorithm can pass through the narrow cavity to reach a designated position without collision.

Description

technical field [0001] The invention belongs to the field of obstacle avoidance algorithms for continuum robots, and more particularly relates to a trajectory following motion planning method and system for continuum robots. Background technique [0002] In the field of modern industrial engineering, robots have been widely used in many work scenarios, such as: processing and manufacturing, production and manufacturing, logistics sorting, inspection and maintenance, etc. However, when faced with complex and narrow working environments such as aircraft fuel tank endoscopic inspection, engine maintenance inspection, and single-hole surgery, this type of industrial engineering robot is limited by its large size and insufficient dexterity. , can no longer meet the needs of such application scenarios. [0003] Compared with traditional robots, the motion of continuum robots is not in the form of rotation or translation around joints, but is generated by bending and deformation o...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
IPC IPC(8): B25J9/16B25J17/02
CPCB25J9/1664B25J17/02
Inventor 赵兴炜陶波胡尔康侯立成
Owner HUAZHONG UNIV OF SCI & TECH
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Patsnap Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Patsnap Eureka Blog
Learn More
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic, Popular Technical Reports.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap|About US| Contact US: help@patsnap.com