Kinematics Modeling and Motion Planning of Tendon Driven Continuum Manipulators

作     者：Jie Zhang Kang Lu Junjie Yuan Jiejian Di Guangping He 

作者机构：Department of Mechanical and Electrical EngineeringNorth China University of TechnologyBeijing100144 China 

出 版 物：《Journal of Artificial Intelligence and Technology》 (人工智能技术学报（英文）)

年 卷 期：2021年第1卷第1期

页      面：28-36页

学科分类：07[理学] 0811[工学-控制科学与工程] 0701[理学-数学] 0812[工学-计算机科学与技术（可授工学、理学学位）] 070101[理学-基础数学] 

基　　金：supported by the National Key R&D Program of China under Grant 2019YFB1309603 the Natural Science Foundation of China under Grants 51775002 and 11702294 the Natural Science Foundation of Beijing under Grants L172001,4204097,3172009,and 3194047 the Joint Program of Beijing Municipal Foundation and Education Commission under Grant KZ202010009015 the Scientific Research Foundation of North China University of Technology 

主　　题：kinematics motion planning continuum manipulators robots 

摘      要：Continuum manipulators have important applications in the human–machine interaction *** kinematics,dynamics,and control issues of the continuum manipulators are rather different from a conventional rigid-link *** the aid of Lie groups theory and exponential coordinate representations,the kinematics of the continuum manipulators with piecewise constant curvatures and actuated by tendons is investigated in this *** the basis of differential kinematics analysis,the complete Jacobian of the continuum manipulators is derived analytically,and then a new motion planning approach,named as“dynamic coordination methodis presented for the multisegments continuum manipulators,which is a class of superredundant *** novel motion planning approach is featured by some appealing properties,and the feasibility of the modeling and the motion planning method is demonstrated by some numerical simulations.