Tongji Univ, Dept Control Sci & Engn, Shanghai 201804, Peoples R China 增强组织信息的名称 Tongji UniversityTaishan Med Univ, Coll Informat & Engn, Tai An 271016, Shandong, Peoples R China 增强组织信息的名称 Taishan Medical University
会议名称
3rd IEEE/IFToMM/ASME International Conference on Reconfigurable Mechanisms and Robots (ReMAR)
The outstanding compliance and adaptability of invertebrate limbs have motivated a recent surge of research activity in continuum robots. In previous studies, the dynamical model of the continuum robot is constructed by using the Lagrange method and the analytic method for the kinematics and dynamics of a continuum robot are shown. In this paper, we focus on the development of the kinematic models of the continuum robot and the energy optimal planning for the continuum robot. A multilayer neural...更多
The outstanding compliance and adaptability of invertebrate limbs have motivated a recent surge of research activity in continuum robots. In previous studies, the dynamical model of the continuum robot is constructed by using the Lagrange method and the analytic method for the kinematics and dynamics of a continuum robot are shown. In this paper, we focus on the development of the kinematic models of the continuum robot and the energy optimal planning for the continuum robot. A multilayer neural network is used for solving the non-linearity of the rigid parallel mechanism. Based on Bishop frames, an optimal curve is used to generate the continuous backbone curve. The optimality criteria are used to choose the curve that satisfies task constraints while optimizing energy consumption. Kinematic models are validated through experiments done with the continuum robot. The results demonstrate that the proposed method for the continuum robot is feasible.收起
