TY - GEN
T1 - A novel shape detection method for continuum soft manipulator based on cable encoders
AU - Zou, Shuangquan
AU - Lv, Yueyong
AU - Zhao, Liqun
AU - Ma, Guangfu
AU - Yan, Hao
N1 - Publisher Copyright:
© 2019 Technical Committee on Control Theory, Chinese Association of Automation.
PY - 2019/7
Y1 - 2019/7
N2 - In this paper, a novel shape detecting method is proposed for continuum soft manipulator to detect the shape in real time, so as to achieve high-precision position and attitude control. The method uses three cable encoders to measure the length of the manipulator per section, and they are distributed at 120 degrees apart from the endplate of the manipulator. Based on the theoretical hypothesis that the soft manipulator has infinite degrees of freedom (DOF), the kinematic model for the single-section manipulator is developed by the piecewise constant curvature method. Further, the kinematic model is extended to the multi-section manipulator via improved D-H method, which achieves the mapping from the length information to the pose of the manipulator. Finally, the three-dimensional shape of the soft manipulator is simulated in real time by MATLAB, which verified the effectiveness of the proposed shape detection method.
AB - In this paper, a novel shape detecting method is proposed for continuum soft manipulator to detect the shape in real time, so as to achieve high-precision position and attitude control. The method uses three cable encoders to measure the length of the manipulator per section, and they are distributed at 120 degrees apart from the endplate of the manipulator. Based on the theoretical hypothesis that the soft manipulator has infinite degrees of freedom (DOF), the kinematic model for the single-section manipulator is developed by the piecewise constant curvature method. Further, the kinematic model is extended to the multi-section manipulator via improved D-H method, which achieves the mapping from the length information to the pose of the manipulator. Finally, the three-dimensional shape of the soft manipulator is simulated in real time by MATLAB, which verified the effectiveness of the proposed shape detection method.
KW - Cable encoder
KW - Continuum soft manipulator
KW - Improved D-H method
KW - MATLAB
KW - Piecewise constant curvature
UR - https://www.scopus.com/pages/publications/85074437279
U2 - 10.23919/ChiCC.2019.8865407
DO - 10.23919/ChiCC.2019.8865407
M3 - 会议稿件
AN - SCOPUS:85074437279
T3 - Chinese Control Conference, CCC
SP - 4709
EP - 4714
BT - Proceedings of the 38th Chinese Control Conference, CCC 2019
A2 - Fu, Minyue
A2 - Sun, Jian
PB - IEEE Computer Society
T2 - 38th Chinese Control Conference, CCC 2019
Y2 - 27 July 2019 through 30 July 2019
ER -