Kinematics Modeling and Motion Planning of Tendon Driven Continuum Manipulators  

作　　者：Jie Zhang Kang Lu Junjie Yuan Jiejian Di Guangping He 

机构地区：[1]Department of Mechanical and Electrical Engineering,North China University of Technology,Beijing,100144 China

出　　处：《Journal of Artificial Intelligence and Technology》2021年第1期28-36,共9页人工智能技术学报（英文）

基　　金：supported by the National Key R&D Program of China under Grant 2019YFB1309603;the Natural Science Foundation of China under Grants 51775002 and 11702294;the Natural Science Foundation of Beijing under Grants L172001,4204097,3172009,and 3194047;the Joint Program of Beijing Municipal Foundation and Education Commission under Grant KZ202010009015;the Scientific Research Foundation of North China University of Technology.

摘　　要：Continuum manipulators have important applications in the human–machine interaction fields.The kinematics,dynamics,and control issues of the continuum manipulators are rather different from a conventional rigid-link manipulator.By the aid of Lie groups theory and exponential coordinate representations,the kinematics of the continuum manipulators with piecewise constant curvatures and actuated by tendons is investigated in this paper.On the basis of differential kinematics analysis,the complete Jacobian of the continuum manipulators is derived analytically,and then a new motion planning approach,named as“dynamic coordination method”is presented for the multisegments continuum manipulators,which is a class of superredundant manipulators.The novel motion planning approach is featured by some appealing properties,and the feasibility of the modeling and the motion planning method is demonstrated by some numerical simulations.

关 键 词：KINEMATICS motion planning continuum manipulators ROBOTS 

分 类 号：O17[理学—数学]