Differential Kinematics of a Multisection–Robot

Abstract

AbstractThe multi-section robots also called variable geometry robots (VGT), are formed by different modules and have multiple degrees of freedom (DOF); These robots are a new class that can be defined as systems adaptable to different environments, unlike conventional robots, multi-section robots allow greater flexibility and adaptability to carry out tasks with restricted space conditions, their locomotion has a high degree of manipulation and dexterity in environments with difficult access and very closed spaces where maneuverability must be high, these characteristics are very similar to those exhibited by the movements of snakes, elephant trunks, and octopus tentacles, capabilities beyond them reach of traditional handlers of rigid link, multi-link robots can adapt their shape to navigate through complex environments. In this work, we show the implementation of the Lie Matrix Theory of the rigid movements of a body in a multi-link Robot so that through kinematics and with the planning of trajectories through third-order polynomials this resembles curves smoothed by Bezier to generate different deformations in the robot in such a way that its movements elude obstacles in a given one within the workspace. The developed algorithm was implemented on a simulated virtual platform in a robotics environment. The motivation of the work was to be able to demonstrate a planning of robot trajectories with multiple degrees of freedom using deterministic algorithms and not focused on computational intelligence such as neural networks or reinforced learning.KeywordsMulti-section robotScrew transformationPath planningCurvature discretization