Path Planning of Continuum Robot Based on Path Fitting
Joint Authors
Li, Wenshuai
Niu, Guochen
Zhang, Yunxiao
Source
Journal of Control Science and Engineering
Issue
Vol. 2020, Issue 2020 (31 Dec. 2020), pp.1-11, 11 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2020-12-22
Country of Publication
Egypt
No. of Pages
11
Main Subjects
Electronic engineering
Information Technology and Computer Science
Abstract EN
The Continuum Robot has a multiredundant dof structure, which is extremely advantageous in the unstructured environment, and can complete such tasks as aircraft fuel tank inspection.
However, due to its complex kinematics and coupling of joint motion, its motion path planning is also a challenging task.
In this paper, a path planning method for Continuum Robot based on an equal curvature model in an aircraft fuel tank environment is proposed.
Considering the complexity of calculation and the structural characteristics of Continuum Robot, a feasible obstacle avoidance discrete path is obtained by using the improved RRT algorithm.
Then, joint fitting is performed on the existing discrete path according to the kinematic model of Continuum Robot, joint obstacle avoidance was conducted in the process of fitting, and finally, a motion path suitable for the Continuum Robot was selected.
A reasonable experiment is designed based on MATLAB, and simulation and analysis results demonstrate excellent performance of this method and feasibility of path planning.
American Psychological Association (APA)
Niu, Guochen& Zhang, Yunxiao& Li, Wenshuai. 2020. Path Planning of Continuum Robot Based on Path Fitting. Journal of Control Science and Engineering،Vol. 2020, no. 2020, pp.1-11.
https://search.emarefa.net/detail/BIM-1182720
Modern Language Association (MLA)
Niu, Guochen…[et al.]. Path Planning of Continuum Robot Based on Path Fitting. Journal of Control Science and Engineering No. 2020 (2020), pp.1-11.
https://search.emarefa.net/detail/BIM-1182720
American Medical Association (AMA)
Niu, Guochen& Zhang, Yunxiao& Li, Wenshuai. Path Planning of Continuum Robot Based on Path Fitting. Journal of Control Science and Engineering. 2020. Vol. 2020, no. 2020, pp.1-11.
https://search.emarefa.net/detail/BIM-1182720
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1182720