Statics and Dynamics of Continuum Robots Based on Cosserat Rods and Optimal Control Theories

Frédéric Boyer; Vincent Lebastard; Fabien CandelierFederico RendaMazen Alamir

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Statics and Dynamics of Continuum Robots Based on Cosserat Rods and Optimal Control Theories

机译：Statics and Dynamics of Continuum Robots Based on Cosserat Rods and Optimal Control Theories

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This article explores the relationship between optimal control and Cosserat beam theory from the perspective of solving the forward and inverse dynamics (and statics as a subcase) of continuous manipulators and snake-like bioinspired locomotors. By invoking the principle of minimum potential energy and the Gauss principle of least constraint, it is shown that the quasi-static and dynamic evolutions of these robots are the solutions of optimal control problems in the space variable, which can be solved at each step (of loading or time) of a simulation with the shooting method. In addition to offering an alternative viewpoint on several simulation approaches proposed in the recent past, the optimal control viewpoint allows us to improve some of them while providing a better understanding of their numerical properties. The approach and its properties are illustrated through a set of numerical examples validated against a reference simulator.

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《IEEE Transactions on Robotics: A publication of the IEEE Robotics and Automation Society》 |2023年第2期|1544-1562|共19页
作者
Frédéric Boyer; Vincent Lebastard; Fabien CandelierFederico RendaMazen Alamir;
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作者单位

Laboratory of Digital Sciences of Nantes, Institut Mines Telecom Atlantique, Nantes, France;

Institut Universitaire des Systémes Thermiques Industriels, Centre national de la recherche scientifique, Aix Marseille University, Marseille, France;

Khalifa University Center for Autonomous Robotics System, Khalifa University of Science and Technology, Abu Dhabi, UAELaboratoire d'Automatique de Grenoble, Centre national de la recherche scientifique, école nationale supérieure d'ingénieurs électriciens de Grenoble, Grenoble, France;

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原文格式 PDF
正文语种英语
中图分类机器人技术;
关键词
Robots; Numerical models; Manipulator dynamics; Heuristic algorithms; Stress; Potential energy; Strain;

Statics and Dynamics of Continuum Robots Based on Cosserat Rods and Optimal Control Theories

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