SLInKi: State Lattice based Inverse Kinematics - A Fast, Accurate, and Flexible IK Solver for Soft Continuum Robot Manipulators
SLInKi: State Lattice based Inverse Kinematics - A Fast, Accurate, and Flexible IK Solver for Soft Continuum Robot Manipulators
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DOI：
10.1109/case49439.2021.9551686
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发表时间：
2021-08
期刊：
影响因子：
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通讯作者：
Shou-Shan Chiang;Hao Yang;E. Skorina;C. Onal
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文献类型：
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作者：
Shou-Shan Chiang;Hao Yang;E. Skorina;C. Onal
软连续体机器人提供了使用基于刚性连杆的机器人身体无法实现的独特特性。他们的灵巧性和内在的合规性使他们能够在受限的环境中航行并以前所未有的方式运营。基于雅可比速度矩阵的方法是求解传统刚性机器人逆运动学问题的一种常用方法，但在求解连续体机器人逆运动学问题时，存在计算量大、求解不可靠等缺点。尝试提供替代解决方案必须克服计算的复杂性和巨大的功能工作空间的连续操纵器姿态。在这里，我们提出了一种启发式的方法，基于状态格的逆运动学求解器（SLinKi），它使用的概念最初开发的解决路径寻找问题，以解决软连续体机器人的IK问题。该算法是直观的，运行在真实的时间，并结合了两个算法的优势，在一个独特的包，超越现有的方法在可调整性和效率。几个仿真案例研究和真实的机器人实验表明，所提出的方法是灵活的，计算效率高，精度高的最先进的。
Soft continuum robots offer unique properties that cannot be achieved using rigid linkage-based robotic bodies. Their dexterity and intrinsic compliance deliver the ability to navigate constrained environments and operate in unprecedented ways. Although the Jacobian velocity matrix based method is a widely used approach to solve inverse kinematics (IK) problems for traditional rigid robots, its drawbacks emerge while solving IK problems of continuum robots, such as high computational cost with no solution guarantees. Attempts to provide alternative solutions must overcome the computational complexity and vast functional workspace of continuum manipulator postures. Here, we propose a heuristic approach, the State Lattice based Inverse Kinematics Solver (SLInKi), which uses concepts originally developed for solving path-finding problems to solve the IK problem of a soft continuum robot. This algorithm is intuitive, runs in real time, and combines the strengths of two algorithms in a unique package that surpasses existing methods in adjustability and efficiency. Several simulation case studies and real robot experiments demonstrate that the proposed approach is flexible, computationally efficient, and highly accurate compared to the state of the art.