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首页> 外文期刊>IEEE / ASME Transactions on Mechatronics >Control of a Snake-Like Robot in an Elastically Deformable Channel
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Control of a Snake-Like Robot in an Elastically Deformable Channel

机译：弹性变形通道中类似Snake的机器人的控制

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摘要

Hyper-redundant (HR) (snake-like) robotic manipulators are particularly adept at navigating narrow, convoluted paths, but have traditionally been difficult to model and control. In this paper, we outline a nonmodel-based control methodology, which allows a five-joint HR robot to traverse a foam channel of unknown curvature using the robot actuators as sensors. The robot is fitted to a waveform which is demonstrated to move the robot along a deformable channel. The waveform parameters are variable, and are adjusted by the developed controller such that the robot is able to navigate unknown curving paths. This robot is demonstrated to be able to navigate a constricted, compliant channel in which the robot is in continuous contact with its surroundings. It is intended that this technology be applied to a multilink actuated endoscope.
机译：超冗余（HR）（蛇形）机器人操纵器特别擅长在狭窄，曲折的路径中导航，但是传统上很难建模和控制。在本文中，我们概述了一种基于非模型的控制方法，该方法允许五关节HR机器人使用机器人致动器作为传感器来遍历未知曲率的泡沫通道。机器人安装了一个波形，该波形被证明可沿变形通道移动机器人。波形参数是可变的，并由开发的控制器进行调整，以使机器人能够导航未知的弯曲路径。证明该机器人能够在狭窄的顺应通道中导航，在该通道中，机器人与周围环境持续接触。旨在将该技术应用于多链路驱动内窥镜。

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