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Design and Tension Modeling of a Novel Cable-Driven Rigid Snake-Like Manipulator

文献类型：期刊论文

作者Xu, Dawei1,2; Li, En2; Liang, Zize2; Gao, Zishu1,2
刊名JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS
出版日期2020-01-16
页码18
关键词Snake-like manipulator Cable-driven Kinematics Tension model Neural network Reinforcement learning
ISSN号0921-0296
DOI10.1007/s10846-019-01115-w
通讯作者Li, En(en.li@ia.ac.cn)
英文摘要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.
资助项目National Key R&D Program of China[2018YFB1307400] ; National Natural Science Foundation of China[61873267] ; National Natural Science Foundation of China[U1713224]
WOS研究方向Computer Science ; Robotics
语种英语
WOS记录号WOS:000507681800001
出版者SPRINGER
资助机构National Key R&D Program of China ; National Natural Science Foundation of China
源URL[http://ir.ia.ac.cn/handle/173211/29509]  
专题自动化研究所_复杂系统管理与控制国家重点实验室_先进机器人控制团队
通讯作者Li, En
作者单位1.Univ Chinese Acad Sci, Beijing 100049, Peoples R China
2.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China
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,2020:18.
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,18.
MLA Xu, Dawei,et al."Design and Tension Modeling of a Novel Cable-Driven Rigid Snake-Like Manipulator".JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS (2020):18.

入库方式： OAI收割

来源：自动化研究所

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