倪杭, 王贺升, 陈卫东. 基于软体机器人冗余自由度的实时避障位置控制[J]. 机器人, 2017, 39(3): 265-271.DOI: 10.13973/j.cnki.robot.2017.0265.
NI Hang, WANG Hesheng, CHEN Weidong. Real-time Obstacle Avoidance and Position Control for a Soft Robot Based on Its Redundant Freedom. ROBOT, 2017, 39(3): 265-271. DOI: 10.13973/j.cnki.robot.2017.0265.
Abstract:The problem of obstacle avoidance for a soft robot is studied by using the motion redundancy of the soft robot when the tip of the soft robot is controlled to the desired position. The kinematic model of the soft robot based on piecewise constant curvature hypothesis is established. And a controller for both position control of the tip and real-time obstacle avoidance is designed based on this model. In the algorithm, a warning zone is artificially divided around the obstacle. With the position feedback of the marker points on the soft robot, the moving strategy of the tip when it's outside the warning zone, and the moving strategies of the middle points as well as the tip when they're inside the warning zone are given. The required control parameters are solved by the generalized inverse matrix of the Jacobian matrix. Then the stability of the inverse Jacobian control is verified using Lyapunov theory. Finally, experiments are implemented in 2-D space. The results show that the tip can reach the target point, and meanwhile the soft robotic arm successfully avoids the obstacle, which verifies the effectiveness of the obstacle avoidance algorithm and the stability of position control.
[1] Webster R J III, Jones B A. Design and kinematic modeling of constant curvature continuum robots: A review[J]. International Journal of Robotics Research, 2010, 29(13): 1661-1683.
[2] Mochiyama H, Shimemura E, Kobayashi H. Shape correspondence between a spatial curve and a manipulator with hyper degrees of freedom[C]//IEEE/RSJ International Conference on Intelligent Robots and Systems. Piscataway, USA: IEEE, 1998: 161-166.
[3] Hannan M W, Walker I D. Kinematics and the implementation of an elephant's trunk manipulator and other continuum style robots[J]. Journal of Robotic Systems, 2003, 20(2): 45-63.
[4] Zheng T J, Branson D T, Guglielmino E, et al. A 3D dynamic model for continuum robots inspired by an octopus arm[C] //IEEE International Conference on Robotics and Automation. Piscataway, USA: IEEE, 2011: 3652-3657.
[5] 俞晓瑾.柔性机械臂的运动学和动力学建模及视觉伺服控制 [D].上海:上海交通大学,2013.Yu X J. Kinematics and dynamics modeling and visual servo control for soft robotic manipulator[D]. Shanghai: Shanghai Jiaotong University, 2013.
[6] Wang H S, Wang C, Chen W D, et al. Three dimensional dynamics for cable-driven soft manipulator[J]. IEEE/ASME Transactions on Mechatronics, 2016, doi: 10.1109/TMECH.2016. 2606547.
[7] Dubey R V, Euler J A, Babcock S M. An efficient gradient projection optimization scheme for a seven-degree-of-freedom redundant robot with spherical wrist[C]//IEEE International Conference on Robotics and Automation. Piscataway, USA: IEEE, 1988: 28-36.
[8] 封岸松,戴炬.冗余自由度机械手的避障控制 [J].机器人,2002,24(3):213-216.Feng A S, Dai J. Obstacle avoidance control about redundant manipulator[J]. Robot, 2002, 24(3): 213-216.
[9] Ping G X, Wei B, Li X L, et al. Real time obstacle avoidance for redundant robot[C]//IEEE International Conference on Mechatronics and Automation. Piscataway, USA: IEEE, 2009: 223-228.
[10] Motahari A, Zohoor H, Korayem M H. A new obstacle avoidance method for discretely actuated hyper-redundant manipulators[J]. Scientia Iranica, 2012, 19(4): 1081-1091.
[11] Shepherd R F, Ilievski F, Choi W, et al. Multigait soft robot[J]. Proceedings of the National Academy of Sciences of the United States of America, 2011, 108(51): 20400-20403.
[12] McMahan W, Jones B A, Walker I D. Design and implementation of a multi-section continuum robot: Air-Octor[C]// IEEE/RSJ International Conference on Intelligent Robots and Systems. Piscataway, USA: IEEE, 2005: 2578-2585.
[13] Wang H S, Yang B H, Liu Y T, et al. Visual servoing of soft robot manipulator in constrained environments with an adaptive controller[J]. IEEE/ASME Transactions on Mechatronics, 2016, doi: 10.1109/TMECH.2016.2613410.
[14] Wang H S, Zhang R X, Chen W D, et al. Shape detection algorithm for soft manipulator based on fiber bragg gratings[J]. IEEE/ASME Transactions on Mechatronics, 2016, 21(6): 2977-2982.
[15] Li T, Nakajima K, Cianchetti M, et al. Behavior switching using reservoir computing for a soft robotic arm[C]//IEEE International Conference on Robotics and Automation. Piscataway, USA: IEEE, 2012: 4918-4924.
[16] Deng T, Wang H S, Chen W D, et al. Development of a new cable-driven soft robot for cardiac ablation[C]//IEEE International Conference on Robotics and Biomimetics. Piscataway, USA: IEEE, 2013: 728-733.
[17] Liegeois B A. Automatic supervisory control of the configuration and behavior of multibody mechanisms[J]. IEEE Transactions on Systems, Man, and Cybernetics, 1977, 7(12): 868-871.