Motion Planning Algorithm for continuum Robots Bending over Obstacles

Dmitrii Yu Kolpashchikov, Nikita V. Laptev, Roman A. Manakov, Viacheslav V. Danilov, Olga M. Gerget, Roman V. Meshcheryakov

Результат исследований: Материалы для книги/типы отчетовМатериалы для конференции

Аннотация

Continuum robots are manipulators able to bend at any point of their structure. This feature allows continuum robots to avoid unwanted collisions in a complicated working area or grasp objects using their body. In this regard, they are used as instruments in industry and medicine. For continuum robots, a collision with an obstacle does not always mean that further motion is impossible. A part of continuum robot can be bent around the obstacle and pushed further. In connection with this point, we propose a planar motion planning algorithm for continuum robots considering the ability to bend over obstacles. We made two assumptions for the proposed algorithm. For the first assumption, friction is not affecting the robot shape while it is pushed forward. The second assumption suggests that a collision point divides a single section of the robot into two sections which can be described by the constant curvature approach. These assumptions allow us to present a single-section continuum robot going from one collision point to another as a multi-section continuum robot. The algorithm searches for the configurations going through collision points without crossing the obstacle borders. Obtained simulation results show that the proposed algorithm with the bending-over-obstacle feature copes well with the motion planning and is able to find multiple solutions less than 0.1 seconds.

Язык оригиналаАнглийский
Название основной публикацииProceedings of 2019 3rd International Conference on Control in Technical Systems, CTS 2019
РедакторыS. Shaposhnikov
ИздательInstitute of Electrical and Electronics Engineers Inc.
Страницы269-272
Число страниц4
ISBN (электронное издание)9781728125107
DOI
СостояниеОпубликовано - окт 2019
Событие3rd International Conference on Control in Technical Systems, CTS 2019 - St. Petersburg, Российская Федерация
Продолжительность: 30 окт 20191 ноя 2019

Серия публикаций

НазваниеProceedings of 2019 3rd International Conference on Control in Technical Systems, CTS 2019

Конференция

Конференция3rd International Conference on Control in Technical Systems, CTS 2019
СтранаРоссийская Федерация
ГородSt. Petersburg
Период30.10.191.11.19

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Control and Optimization

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