Kinematics Solution of Snake-like Manipulator Based on Improved Backbone Mode Method

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	Kinematics Solution of Snake-like Manipulator Based on Improved Backbone Mode Method
	Wang Z(王轸)1,2,3; Chang J(常健)1,2; Li B(李斌)1,2; Wang C(王聪)1,2; Liu C(刘春)1,2
	2020
会议日期	October 13-16, 2020
会议地点	Beijing, China
关键词	snake-like manipulator improved backbone mode method forward kinematics inverse kinematics
页码	1774-1779
英文摘要	Snake-like manipulator has the advantage of high degrees of freedom, suitable for some complex working environment. But the inverse kinematics of the hyper-redundant manipulator is difficult. In this paper, an improved backbone mode method is presented. Firstly, the kinematic model of snakelike manipulator is established by using the modified D-H method and MATLAB (Robotics Toolbox). The continuous equations of point coordinates in the original backbone mode method was transformed into the discrete equations, and the angles of each degree of freedom were obtained by the coordinates of each node, and the joints of the manipulator are smoothed to reduce the angles of some joints. Finally, the result shows that the improved backbone mode method is higher than the original backbone mode method in computational efficiency and accuracy through MATLAB simulation.
产权排序	1
会议录	2020 IEEE International Conference on Mechatronics and Automation, ICMA 2020
会议录出版者	IEEE
会议录出版地	New York
语种	英语
ISBN号	978-1-7281-6415-1
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/27960]
专题	沈阳自动化研究所_机器人学研究室
通讯作者	Wang Z(王轸); Chang J(常健)
作者单位	1.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, 110169, Shenyang 2.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, 110016, Shenyang 3.University of Chinese Academy of Sciences, 100049, Beijing
推荐引用方式 GB/T 7714	Wang Z,Chang J,Li B,et al. Kinematics Solution of Snake-like Manipulator Based on Improved Backbone Mode Method[C]. 见:. Beijing, China. October 13-16, 2020.