康荣杰,刘 跃 ,耿仕能 ,杨铖浩
AuthorsHTML:康荣杰 ^{1, 2}，刘 跃 ¹ ，耿仕能 ¹ ，杨铖浩 ¹
AuthorsListE:Kang Rongjie,Liu Yue,Geng Shineng,Yang Chenghao
AuthorsHTMLE:Kang Rongjie ^{1, 2}，Liu Yue¹，Geng Shineng¹，Yang Chenghao ¹
Unit:1. 天津大学机构理论与装备设计教育部重点实验室，天津 300350；
2. 中国科学院沈阳自动化研究所机器人学国家重点实验室，沈阳 110016

Unit_EngLish:1. Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education， Tianjin University，Tianjin 300350，China；
2. State Key Laboratory of Robotics，Shenyang Institute of Automation， Chinese Academy of Sciences，Shenyang 110016，China

Abstract_Chinese:连续型机器人是一种基于章鱼触手、象鼻等生物器官仿生的新型机器人，其不具有刚性连杆和离散关节， 因而具有优越的柔顺性和灵活性，在微创手术、狭小环境探测救援、空间操作等领域具有非常广阔的应用前景，逐 渐成为新的研究热点．然而它的柔顺性和超冗余的特点也给连续型机器人的建模和控制带来了极大的考验．针对以 上问题，搭建多模块丝驱动连续型机器人物理样机，并基于堆叠的两自由度并联机构拟合机器人本体构型，利用 D\u0002H 参数法分析其运动学和速度雅可比矩阵，基于集中质量原理建立其牛顿-欧拉动力学模型，进而通过末端位置反馈 搭建连续型机器人的闭环控制系统．面对多障碍的复杂环境，通过构造障碍势函数评估机器人与障碍物之间的距离 变化，在机器人轨迹控制中，合理地选择运动学求逆运算时的雅可比矩阵零空间变量，控制机器人在机械臂本体改 变构型躲避障碍物的同时末端保持轨迹跟踪．分别对机器人进行末端轨迹跟踪与避障控制的仿真和实验验证，观察 机器人的末端轨迹误差与构型变化，以评估机器人模型、控制闭环与避障算法的正确性．仿真和实验结果均表明机 器人具有良好的运动控制和避障能力．该研究工作为连续型机器人在复杂实际应用环境中的构型控制和安全操作提 供了思路与方法支持．
Abstract_English:Continuum robots are a new generation of bionic robots inspired by octopus arms，elephant trunks，and other biological appendages that possess intrinsic compliance and high dexterity without rigid links or discrete joints. Continuum robots are suitable for use in minimally invasive surgery，detection and rescue operations in narrow workspaces，and space operations，and have therefore gradually become a research hotspot. However，the compliant body structures and multiple degrees of freedom(DOFs)of these robots pose a great challenge for their modeling and control. To address this problem，in this paper，we present a wire-driven continuum robot with a modular design. The kinematic model and Jacobian matrix are constructed using the D-H parameter method，based on a two-DOFs stacked parallel mechanism，and the Newton-Euler dynamic model of the wire-driven continuum robot is established based on lumped model elements. We established a closed-loop control system for the robot based on end positionfeedback. Considering the unstructured environment，a potential function is used to evaluate the change in the distance between the robot and obstacles，and the robot was found to achieve good tracking performance and obstacle avoidance by the construction and proper selection of a zero-space variable from the Jacobian matrix. We conducted simulations and experiments to validate the performances of the control system and obstacle avoidance algorithm by analyzing the tracking error and configuration of the robot. The results indicate that the presented continuum robot has good obstacle avoidance capability. This work provides new methodologies for the configuration control and safe operation of continuum robots in complex environments.
Keyword_Chinese:连续型机器人；运动学；动力学；零空间；避障
Keywords_English:continuum robot；kinematics；dynamics；null space；obstacle avoidance

PDF全文下载地址:http://xbzrb.tju.edu.cn/#/digest?ArticleID=6646