Abstract
This study proposes a novel method for the positioning and spatial orientation control of three inextensible segments of trunk-type robots. The suggested algorithm imposes a soft constraint assumption for the end-effector’s endpoint and a mandatory constraint on its direction. Simultaneously, the algorithm by-design enforces nonholonomic features on the robot segments in the form of arcs. An approximate robot spine curve is the key to the final robot state configuration based on the given conditions. The numeric simulation showed acceptable (less than 1 s) performance for single-core processing tasks. The parametric method finds the best proximate robot state solution and represents the gray box model in addition to existing learning or black-box inverse dynamics approaches. This study also shows that a multiple inverse kinematics answer constructs a single inverse dynamics solution that defines the robot actuators’ motion profiles, synchronized in time. Finally, this text presents rotational expressions and their outlines for controlling the manipulator’s tendons.
Highlights
There are more and more efforts to create and control continuum robots that excel in kinematic redundancy
The solution of the three inextensible segments for the continuum robot starts with a consideration of initial conditions
Theintention intention method is the spatial control of the three inexof ofof thethe method is the spatial control of the three inextentensible segments’
Summary
Publisher’s Note: MDPI stays neutral with regard to jurisdictional claims in published maps and institutional affiliations. Tendon-driven continuum robots are utilized primarily in surgery because of the beneficial features of wire usage This specific structure can be adapted for the maintenance and repair of aero-engines and to aid people living with disabilities in completing daily living activities, like an assistive robot [16]. That there is a known continuum robot structure type for painting tasks, a tendon-driven continuum robot with inextensible three segments, the robot actuator control problem emerges. The robot section motors and synchronous actuator motion profiles for the selected robot configuration are discussed towards the end of this study and are the authors’ primary motivation for suggesting trunk-type tendon-driven robot implementation.
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