Kinematics decoupling analysis of a hyper-redundant manipulator driven by cables
<p>The mapping relationship between the driving space and the workspace is essential for the precise control of a cable-driven hyper-redundant robot. For a hyper-redundant robot driven by cables, the relationships between the driving space and the joint space and between the joint space and th...
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| Autores principales: | , , |
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| Formato: | article |
| Lenguaje: | EN |
| Publicado: |
Copernicus Publications
2021
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| Materias: | |
| Acceso en línea: | https://doaj.org/article/7cb9d6735bd9442bac6a12dae1e95714 |
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| Sumario: | <p>The mapping relationship between the driving space and
the workspace is essential for the precise control of a cable-driven
hyper-redundant robot. For a hyper-redundant robot driven by cables, the
relationships between the driving space and the joint space and between the
joint space and the workspace were studied. A joint-decoupling kinematics
analysis method was proposed and a kinematic analysis was presented. Based
on the analysis of the coupling effect between the cable-driving space and the joint space, a decoupling analysis of the whole cable-driving space and
joint space was conducted to eliminate the coupling effect between the
joints, and the mapping relationship between the driving cables and the
joint angles was obtained. Given the initial and target orientations of the
hyper-redundant robot, the variation law for each joint angle was obtained
using quintic polynomial trajectory planning and the pseudo-inverse Jacobian
matrix, and then the driving cable variation law could be solved. Based on
the results, the joint angle changes and the workspace trajectories were
solved in turn. By comparing with the initial trajectory, the simulation
results verified the appropriateness of the decoupling analysis.</p> |
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