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)

Li, Wenshuai…[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