Design of a curled hyper-redundant manipulator and the motion control with tip-following algorithm

CASIA OpenIR > 中国科学院工业视觉智能装备工程实验室 > 精密感知与控制

	Design of a curled hyper-redundant manipulator and the motion control with tip-following algorithm
	Zhang AS(章澳顺)1,2,3 ; Li E(李恩)1,2,3 ; Zhang F(张峰)4; Guo R(郭锐)4; Luo MR(罗明睿)1,2,3; Zhang YW(张雨薇)5
	2023-05-20
会议名称	中国控制与决策会议
会议日期	2023.5.20-2023.5.22
会议地点	中国宜昌
摘要	In order to meet the operational needs in some narrow environments, the hyper-redundant snake-shaped manipulator has received extensive attention and has been widely studied due to its compact shape and multiple degrees of freedom. At present, the research of hyper-redundant manipulator mainly focuses on the straight push platform. Considering the limitation of working space, this paper designed a hyper-redundant manipulator delivered by a curled turntable. According to the characteristics of turntable delivery, a tip-following algorithm based on curve fitting and a tip-following strategy based on terminal posture record are proposed. Finally, with the algorithm applied to the physical robot we made, we successfully realized the tip-following motion control of the hyper-redundant manipulator.
收录类别	EI
七大方向——子方向分类	智能机器人
国重实验室规划方向分类	高通过性仿生机器人
是否有论文关联数据集需要存交	否
文献类型	会议论文
条目标识符	http://ir.ia.ac.cn/handle/173211/57633
专题	中国科学院工业视觉智能装备工程实验室_精密感知与控制
通讯作者	Zhang F(张峰)
作者单位	1.School of Artificial Intelligence, University of Chinese Academy of Sciences, Beijing, China 2.The State Key Laboratory of Management and Control for Complex Systems, Institute of Automation Chinese Academy of Sciences, Beijing, China 3.Engineering Laboratory for Intelligent Industrial Vision, CAS, Beijing, China 4.State Grid Intelligent, Technology Co., Ltd., Shandong, China 5.State Grid Shandong Electric Power Company Jinan Power Supply Company, Shandong, China
第一作者单位	中国科学院自动化研究所
推荐引用方式 GB/T 7714	Zhang AS,Li E,Zhang F,et al. Design of a curled hyper-redundant manipulator and the motion control with tip-following algorithm[C],2023.

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