تقرير
Design and Tension Modeling of a Novel Cable-Driven Rigid Snake-Like Manipulator
| العنوان: | Design and Tension Modeling of a Novel Cable-Driven Rigid Snake-Like Manipulator |
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| المؤلفون: | Xu, Dawei, Li, En, Liang, Zize, Gao, Zishu |
| بيانات النشر: | SPRINGER |
| سنة النشر: | 2020 |
| المجموعة: | Institute of Automation: CASIA OpenIR (Chinese Academy of Sciences) / 中国科学院自动化研究所机构知识库 |
| مصطلحات موضوعية: | Snake-like manipulator, Cable-driven, Kinematics, Tension model, Neural network, Reinforcement learning, Computer Science, Robotics, Artificial Intelligence |
| الوصف: | 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. |
| نوع الوثيقة: | report |
| اللغة: | English |
| العلاقة: | JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS; http://ir.ia.ac.cn/handle/173211/29509Test; http://ir.ia.ac.cn/handle/173211/29510Test |
| DOI: | 10.1007/s10846-019-01115-w |
| الإتاحة: | https://doi.org/10.1007/s10846-019-01115-wTest http://ir.ia.ac.cn/handle/173211/29509Test http://ir.ia.ac.cn/handle/173211/29510Test |
| رقم الانضمام: | edsbas.BC498BD7 |
| قاعدة البيانات: | BASE |
| DOI: | 10.1007/s10846-019-01115-w |
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