Multi-continuum manipulators shape reconstruction using inertial navigation sensors and cameras
Multi-continuum manipulators shape reconstruction using inertial navigation sensors and cameras
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DOI：
10.1108/ir-09-2020-0205
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发表时间：
2021-02
期刊：
影响因子：
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通讯作者：
Hao Guo;Feng Ju;Ning Wang;Bai Chen;Xiaoyong Wei;Yao-yao Wang;Dan Wang
中科院分区：
文献类型：
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作者：
Hao Guo;Feng Ju;Ning Wang;Bai Chen;Xiaoyong Wei;Yao-yao Wang;Dan Wang
目的连续体机械手因其灵活性和安全性，近年来在复杂狭小的空间中得到了广泛的应用。视觉被认为是获取其空间形状的最直接方法之一。然而，随着多连续体机械手协作要求的提高和空间限制的增加，仅靠几个摄像机无法获得多个连续体机械手的完整空间形状信息。设计/方法/途径本文提出了一种利用惯性导航传感器和摄像机的融合方法来重建整个工作空间中的连续体机械手的形状。相机用于获取位置信息，惯性导航传感器用于获取姿态信息。基于这两个信息，通过对Bézier曲线的拟合，重构出了连续体机械手的形状。结果单连续体机械手的实验结果表明，三次Bézier曲线适用于变曲率曲线的拟合，最大拟合误差在2 mm左右。同时，实验结果表明，该方法不受障碍物的影响，通过检测末端的位置和姿态信息，仍然可以在三维空间中重建出连续体机械手的形状。原创性/价值据作者所知，这是首次对多连续体机械手的空间形状重构进行研究，也是首次将惯性导航传感器和摄像机引入到狭小空间中的多连续体机械手的形状重构领域。该方法适用于变曲率连续体机械手的形状重构。当多个连续体机械手的视觉被障碍物遮挡时，仍然可以通过暴露终点来重建空间形状。该方法结构简单，但在一定范围内具有一定的精度。
Purpose Continuum manipulators are often used in complex and narrow space in recent years because of their flexibility and safety. Vision is considered to be one of the most direct methods to obtain its spatial shape. However, with the improvement of the cooperation requirements of multiple continuum manipulators and the increase of space limitation, it is impossible to obtain the complete spatial shape information of multiple continuum manipulators only by several cameras. Design/methodology/approach This paper proposes a fusion method using inertial navigation sensors and cameras to reconstruct the shape of continuum manipulators in the whole workspace. The camera is used to obtain the position information, and the inertial navigation sensor is used to obtain the attitude information. Based on the above two information, the shape of the continuum manipulator is reconstructed by fitting Bézier curve. Findings The experiment result of single continuum manipulator shows that the cubic Bézier curves is applicable to curve fitting of variable curvature, the maximum fitting error is about 2 mm. Meanwhile, the experiment result shows that this method is not affected by obstacles and can still reconstruct the shape of the continuum manipulators in 3-D space by detecting the position and attitude information of the end. Originality/value According to the authors’ knowledge, this is the first study on spatial shape reconstruction of multiple continuum manipulators and the first study to introduce inertial navigation sensors and cameras into the field of shape reconstruction of multiple continuum manipulators in narrow space. This method is suitable for shape reconstruction of manipulator with variable curvature continuum manipulator. When the vision of multiple continuum manipulators is blocked by obstacles, the spatial shape can still be reconstructed only by exposing the end point. The structure is simple, but it has certain accuracy within a certain range.