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A trajectory following motion planning method and system for a continuum robot

A technology of following motion and planning system, which is applied in the direction of manipulators, program control manipulators, manufacturing tools, etc. It can solve the problems of low control accuracy and achieve the effect of accurate trajectory tracking and short solution time

Active Publication Date: 2022-04-01
HUAZHONG UNIV OF SCI & TECH
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  • Claims
  • Application Information

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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

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  • A trajectory following motion planning method and system for a continuum robot
  • A trajectory following motion planning method and system for a continuum robot

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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...

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Abstract

The invention discloses a trajectory following motion planning method and system of a continuum robot, belonging to the field of obstacle avoidance algorithms for continuum robots. The method includes: defining a cavity crossing coordinate system, an end coordinate system and a base coordinate system; In the internal environment, set the joint parameters of the target state of the continuum robot to obtain the target trajectory; wherein, the joint parameters include the end tangent of the curved joint segment and the base coordinate system {O 2}Included angle θ in the positive direction of the Z axis i , and the central axis of the single joint is in the base coordinate system {O 2} The projection of the OXY plane to the base coordinate system {O 2} The rotation angle in the positive direction of the X-axis divides the target trajectory into three circular arc trajectory segments connected end to end, and each arc trajectory segment is divided into multiple stepping motions to follow. The trajectory-following obstacle-avoiding algorithm of the present invention has good control effect and short solution time, and the continuum robot adopting the algorithm can reach a designated position through a narrow cavity 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

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Application Information

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Patent Type & Authority Patents(China)
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
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