| 引用本文: | 冯子俊,李永强,冯宇,冯远静,刘扬.连续型同心管机器人正运动学快速求解方法[J].控制理论与应用,2022,39(6):1112~1120.[点击复制] |
| FENG Zi-jun,LI Yong-qiang,FENG Yu,FENG Yuan-jing,LIU Yang.Fast solution method for forward kinematics of continuous concentric tube robot[J].Control Theory and Technology,2022,39(6):1112~1120.[点击复制] |
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| 连续型同心管机器人正运动学快速求解方法 |
| Fast solution method for forward kinematics of continuous concentric tube robot |
| 摘要点击 1542 全文点击 603 投稿时间：2021-04-12 修订日期：2021-08-20 |
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| DOI编号 10.7641/CTA.2021.10302 |
| 2022,39(6):1112-1120 |
| 中文关键词 同心管机器人 运动学分析 机器人几何学 Kinect视觉传感器 机器人建模 |
| 英文关键词 concentric tube robot kinematic analysis robot geometry Kinect vision sensor robot modeling |
| 基金项目 国家自然科学基金项目(61976190, 62073294), 浙江省自然科学基金重点项目(LZ21F030003), 浙江省科技计划重点研发项目(2020C03070)资助. |
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| 中文摘要 |
| 针对可在受限环境中灵活运动的连续型同心管机器人传统正运动学方法计算时间较长, 不利于机器人实
时运行的问题, 本文提出了基于机器人几何学的同心管机器人正运动学快速求解方法, 能够在精度损失有限的情况
下, 提高正运动学模型的计算效率. 先根据Cosserat杆模型对同心管机器人进行建模, 再利用李代数理论建立了机器
人空间位置和曲率的关系式, 并结合提出的正运动学方法, 对机器人进行了基于逆运动学的开环控制实验. 最后通
过3管机器人的仿真和实物实验验证了本文所提方法的快速性和有效性. |
| 英文摘要 |
| This paper aims at the problem which traditional forward kinematics method of concentric tube robot takes
a long time to calculate and limits real time work, a fast solution method for the forward kinematics of the concentric
tube robot based on robot geometry is proposed in this paper, which can improve the calculation efficiency by losing just
a little of accuracy. The concentric tube robot is firstly modeled by the Cosserat theory. Then the relationship between
the concentric tube robot spatial position and the curvature is established by using the Lie algebra theory. Moreover, the
open loop control experiment based on inverse kinematics is carried out combined with the proposed forward kinematics
method. Finally, both simulation and physical experiment of the three-tube robot verify the rapidity and effectiveness of the
proposed method. |
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