论文标题
一种用于轨迹跟踪的柔软延伸气动执行器的反向运动学的几何方法
A geometric approach towards inverse kinematics of soft extensible pneumatic actuators intended for trajectory tracking
论文作者
论文摘要
软机器人是机器人中超值的有趣示例，但是，这些机器人的非线性连续动力学以及使用超弹性和粘弹性材料的使用使这些机器人的建模更加复杂。这项研究提出了一个几何逆运动学（IK）模型，用于多段可扩展的软机器人的轨迹跟踪，其中软执行器的每个段都与与旋转和棱镜关节相连的多个刚性链路几何近似。使用优化方法，获得了所需的最终效果位置的软执行器的所需配置变量。同样，机器人的冗余也用于第二个任务应用，例如尖端角度控制。与大多数现有方法相比，通过模拟，数值基准和实验验证来研究该模型的性能，结果显示出较低的计算成本和较高的准确性。该方法易于应用于2D和3D的多段软机器人。作为一个案例研究，使用控制单元测试了完全3D打印的软机器人操纵器，模型预测与实验结果表现出良好的一致性。
Soft robots are interesting examples of hyper-redundancy in robotics, however, the nonlinear continuous dynamics of these robots and the use of hyper-elastic and visco-elastic materials makes modeling of these robots more complicated. This study presents a geometric Inverse Kinematic (IK) model for trajectory tracking of multi-segment extensible soft robots, where, each segment of the soft actuator is geometrically approximated with multiple rigid links connected with rotary and prismatic joints. Using optimization methods, the desired configuration variables of the soft actuator for the desired end-effector positions are obtained. Also, the redundancy of the robot is applied for second task applications, such as tip angle control. The model's performance is investigated through simulations, numerical benchmarks, and experimental validations and results show lower computational costs and higher accuracy compared to most existing methods. The method is easy to apply to multi segment soft robots, both in 2D and 3D. As a case study, a fully 3D-printed soft robot manipulator is tested using a control unit and the model predictions show good agreement with the experimental results.
