论文标题
近似分段恒定曲率等效模型及其在连续机器人配置估计中的应用
Approximate Piecewise Constant Curvature Equivalent Model and Their Application to Continuum Robot Configuration Estimation
论文作者
论文摘要
连续机器人的灵活性吸引了更多的关注。连续机器人运动学模型是进一步的感知，计划和控制的基础。连续机器人的设计和研究通常基于分段恒定曲率（PCC）的假设。但是，由于摩擦的影响等，连续机器人的实际运动是近似分段恒定曲率（APCC）。为了解决这个问题，我们提出了连续机器人的运动学当量模型，即APCC 2L-5R。使用经典的刚性链接替换运动学中的原始模型，APCC 2L-5R模型有效地降低了复杂性并提高了数值稳定性。此外，基于模型，连续机器人的配置自估计是通过在每个近似恒定曲率段末端安装的单眼摄像机实现的。 APCC 2L-5R在感知，计划和控制连续体机器人中的潜力仍有待探索。
The continuum robot has attracted more attention for its flexibility. Continuum robot kinematics models are the basis for further perception, planning, and control. The design and research of continuum robots are usually based on the assumption of piecewise constant curvature (PCC). However, due to the influence of friction, etc., the actual motion of the continuum robot is approximate piecewise constant curvature (APCC). To address this, we present a kinematic equivalent model for continuum robots, i.e. APCC 2L-5R. Using classical rigid linkages to replace the original model in kinematic, the APCC 2L-5R model effectively reduces complexity and improves numerical stability. Furthermore, based on the model, the configuration self-estimation of the continuum robot is realized by monocular cameras installed at the end of each approximate constant curvature segment. The potential of APCC 2L-5R in perception, planning, and control of continuum robots remains to be explored.
