Knowledge Commons of Institute of Automation,CAS
Design and Tension Modeling of a Novel Cable-Driven Rigid Snake-Like Manipulator | |
Xu, Dawei1,2; Li, En1; Liang, Zize1; Gao, Zishu1,2 | |
发表期刊 | JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS |
ISSN | 0921-0296 |
2020-01-16 | |
卷号 | 99期号:2页码:211-228 |
摘要 | In this study, a cable-driven snake-like manipulator with high load capacity and end-positioning accuracy is designed for applications in complex and narrow environments. The Hooke joint-like two degree-of-freedom joint design and the full actuation mode enhanced the rigidity of the robot. The modular link design increased the local flexibility of the robot. Because the cable tension cannot be ignored under high load on the basis of the kinematics model, a cable tension model is established based on rigid body static equilibrium to describe the relationship between posture and cable tension. This provided a foundation for follow-up studies on obstacle avoidance path planning with optimized tension. At the same time, in order to improve the response speed of the motor position controller to the tension change, this study introduces both the tension as the reference model input and the system state variable into the adaptive control method based on model identification and reinforcement learning. The kinematics model and the cable tension model were validated by experiments on the prototype. The practical results of the two adaptive control methods were compared and the result shows that the method based on model identification has a better effect. |
关键词 | Snake-like manipulator Cable-driven Kinematics Tension model Neural network Reinforcement learning |
DOI | 10.1007/s10846-019-01115-w |
收录类别 | SCI |
语种 | 英语 |
资助项目 | National Natural Science Foundation of China[61873267] ; National Key R&D Program of China[2018YFB1307400] ; National Natural Science Foundation of China[U1713224] ; National Natural Science Foundation of China[U1713224] ; National Key R&D Program of China[2018YFB1307400] ; National Natural Science Foundation of China[61873267] |
WOS研究方向 | Computer Science ; Robotics |
WOS类目 | Computer Science, Artificial Intelligence ; Robotics |
WOS记录号 | WOS:000507681800001 |
出版者 | SPRINGER |
七大方向——子方向分类 | 智能机器人 |
引用统计 | |
文献类型 | 期刊论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/29510 |
专题 | 复杂系统认知与决策实验室_先进机器人 |
通讯作者 | Li, En |
作者单位 | 1.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China 2.Univ Chinese Acad Sci, Beijing 100049, Peoples R China |
第一作者单位 | 中国科学院自动化研究所 |
通讯作者单位 | 中国科学院自动化研究所 |
推荐引用方式 GB/T 7714 | Xu, Dawei,Li, En,Liang, Zize,et al. Design and Tension Modeling of a Novel Cable-Driven Rigid Snake-Like Manipulator[J]. JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS,2020,99(2):211-228. |
APA | Xu, Dawei,Li, En,Liang, Zize,&Gao, Zishu.(2020).Design and Tension Modeling of a Novel Cable-Driven Rigid Snake-Like Manipulator.JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS,99(2),211-228. |
MLA | Xu, Dawei,et al."Design and Tension Modeling of a Novel Cable-Driven Rigid Snake-Like Manipulator".JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS 99.2(2020):211-228. |
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