Experimental Study on Motion Control of Rope-Driven Snake Manipulator Using Velocity Mapping Method
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Experimental Study on Motion Control of Rope-Driven Snake Manipulator Using Velocity Mapping Method Haiyu Gu1 · Cheng Wei1
· Zeming Zhang1 · Yang Zhao1
Received: 10 March 2020 / Accepted: 17 August 2020 © Springer Nature B.V. 2020
Abstract The rope-driven snake manipulator is a bionic mechanism with hyper redundant DOFs and can be applied in narrow and confined environments, such as surgery, spacecraft, nuclear plant, etc. The kinematic mapping expressed by the rope length, joint angle and end pose is highly nonlinear and difficult to be calculated. Moreover, the control methods with rope length as input are prone to redundant driving ropes getting stuck due to differences in model and actual mechanism. Therefore, the perfect kinematic mapping of the rope-driven snake manipulator is necessary for designing high-efficiency motion controllers. In this paper, an analytical mapping about the velocities of ropes, joints and end is established and verified. Firstly, a prototype inspired by the biological snake spine is designed. And then the Jacobian matrix representing the velocity mapping is derived and analyzed in detail. The joint and rope velocities are optimized by configuring the null space vector of the Jacobian matrix. Based on the velocity mapping and optimization, a motion control scheme for the snake manipulator is established to realize servo control of the joints and end. Finally, the trajectory tracking simulation and experiment are executed to verify the velocity mapping theory and control scheme. This research can provide solutions for the complex motion control problems of subsequent snake manipulators. Keywords Snake manipulator · Jacobin matrix · Velocity mapping · Kinematic optimization
1 Introduction The snake manipulator composed of numerous links is dexterous in operation, which can be applied in many narrow and confined environments such as surgery, spacecraft, nuclear plant, etc [1–5]. At present, the mechanical design of the snake manipulator mainly adopts the rope-driven series-parallel mechanism and the electropneumatic/electrohydraulic series-parallel mechanism [6–8]. In
Cheng Wei
[email protected] Haiyu Gu [email protected] Zeming Zhang [email protected] Yang Zhao [email protected] 1
Department of Aerospace Engineering, Harbin Institute of Technology, Haribin, China
contrast to rope drives, pneumatic and hydraulic mechanisms can provide bidirectional driving force, but the equipments are numerous and complex, including pumps, valves, pipelines, etc. In this paper, a snake manipulator is designed using driving ropes and universal joints to achieve complex motion. There are numerous degrees of freedom (DOFs) and actuators for the snake manipulator, so a perfect kinematic model needs to be built and introduced into the motion control to ensure coordinated displacement of the actuators. Since the Jacobian matrix can represent the positional derivative of motion, it is usually adopted to the robotic kinematic algorithms. Tang L, Wang J, et al derived the Jacobian matrix
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