novtexmechМехатроника, автоматизация, управлениеMekhatronika, Avtomatizatsiya, Upravlenie1684-64272619-1253Commercial Publisher «New Technologies»10.17587/mau.22.420-424novtexmech-1037Research ArticleРОБОТЫ, МЕХАТРОНИКА И РОБОТОТЕХНИЧЕСКИЕ СИСТЕМЫROBOT, MECHATRONICS AND ROBOTIC SYSTEMSСравнение алгоритмов обратной кинематики для многосекционных непрерывных роботовComparison of Inverse Kinematics Algorithms for Multi-Section Continuum RobotsКолпащиковД. Ю.KolpashchikovD. Yu.

инженер

 

Kolpashchikov D. Yu., Engineer

Tomsk, 634000

dyk1@tpu.ruГергетО. М.GergetO. M.

 д-р техн. наук, проф.

 Tomsk, 634000

gerget@tpu.ruНациональный исследовательский Томский политехнический университетРоссияNational Research Tomsk Polytechnic UniversityRussian Federation202119082021228420424Copyright © Commercial Publisher «New Technologies», 20212021Commercial Publisher «New Technologies»Commercial Publisher «New Technologies»https://mech.novtex.ru/jour/about/submissions#copyrightNoticehttps://mech.novtex.ru/jour/article/view/1037

Непрерывные роботы – уникальный вид роботов, которые совершают движение за счет упругой деформации собственного тела. Их гибкая конструкция позволяет изгибаться в любой точке тела. Данное преимущество дает возможность использовать таких роботов в рабочих областях со сложной геометрией и множеством препятствий. Кинематика непрерывных роботов, состоящих из одной секции изгиба, достаточно хорошо известна, как и прямая кинематика для многосекционных непрерывных роботов. Однако задача обратной кинематики для многосекционных непрерывных роботов все еще остается актуальной. Сложность задачи обратной кинематики для многосекционных непрерывных роботов является довольно высокой из-за нелинейностей движения робота. В статье подробно рассмотрена модификация алгоритма FABRIK, предложенная авторами, а также итеративный алгоритм, построенный на основе расчета матрицы Якоби. Приведено сравнение алгоритмов обратной кинематики для многосекционных непрерывных роботов постоянной длины и описаны результаты эксперимента.

Continuum robots are a unique type of robots that move due to the elastic deformation of their own body. Their flexible design allows them to bend at any point along their body, thus making them usable in workspaces with complex geometry and many obstacles. Continuum robots are used in industry for non-destructive testing and in medicine for minimally invasive procedures and examinations. The kinematics of continuum robots consisting of a single bending section are well known, as is the forward kinematics for multi-section continuum robots. There exist efficient algorithms for them. However, the problem of inverse kinematics for multi-section continuum robots is still relevant. The complexity of the inverse kinematics for multi-section continuum robots is quite high due to the nonlinearities of the robots’ motion. The article discusses in detail the modification of the FABRIK algorithm proposed by the authors, as well as a Jacobian-based iterative algorithm. A comparison of inverse kinematics algorithms for multi-section continuum robots with constant section length is given and the results of the experiment are described.

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The authors declare that there are no conflicts of interest present.