Real-Time Kinematics of Continuum Robots: Modelling and Validation
Real-Time Kinematics of Continuum Robots: Modelling and Validation
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DOI：
10.1016/j.rcim.2020.102019
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发表时间：
2021-02-01
影响因子：
10.4
通讯作者：
Kell, James
中科院分区：
文献类型：
--
作者：
Barrientos-Diez, Jorge;Dong, Xin;Kell, James
柔性骨干连续体机器人的运动学是高度非线性的，其复杂性迅速升级的机器人的部分，这通常是三个以上的数量。本文介绍了一种运动学建模的驱动和配置空间，大大简化了计算的要求相比，常用的分段常曲率Kinetics的结果，在一个更快的算法在一个比例的部分的数量的速度。该算法首先应用于双支点柔性关节连续体机器人，然后扩展到一般的单中性轴骨干结构，均获得了很低的近似误差（0.7%的原型开发），这导致了几个优点，如避免高度非线性函数和奇点，大大降低了计算的复杂性和用户友好的图形表示，以帮助这种机器人的操作和状态监测。此外，细长，小直径和超冗余（175 mm长，6 mm直径，10自由度）连续体机器人原型的开发和测试，在实际情况下的工业应用，检查和维修的航空发动机，以验证所提出的模型。
Kinematics of flexible backbone continuum robots is highly non linear and its complexity quickly escalates with the number of sections of the robot, which is usually more than three. This paper introduces a kinematic modelling of actuation and configuration spaces that greatly simplifies the computational requirements compared to the commonly used Piecewise Constant Curvature Kinematics which results in a faster algorithm at a rate proportional to the number of sections. This new algorithm is firstly developed for Twin Pivot Compliant Joint continuum robots but then extended to a general single neutral axis backbone configuration, both achieving a very low error of approximation (0.7% for the prototype developed), which results in several advantages such as the avoidance of highly non-linear functions and singularities, great reduction of computational complexity and an user-friendly graphical representation to help operation and status monitoring of this kind of robots. Moreover, a slender, small diameter and hyper-redundant (175 mm length, 6 mm diameter, 10 Degrees of Freedom) continuum robot prototype is developed and tested in a real-case industrial application for inspection and repair of aero engines in order to validate the proposed model.