Dynamical modeling and intelligent control of space soft manipulator

Xiang ZHANG; Hongwei LIU; Zhuoqun LIU; Zhenguo YAN; Xiaoqian CHEN; Yiyong HUANG

doi:10.11959/j.issn.2096-6652.201905

您当前的位置：

首页 >

文章列表页 >

Dynamical modeling and intelligent control of space soft manipulator

Papers | 更新时间：2024-06-05

- Dynamical modeling and intelligent control of space soft manipulator
- Chinese Journal of Intelligent Science and Technology Vol. 1, Issue 1, Pages: 52-61(2019)
- 作者机构：
  
  1. 军事科学院国防科技创新研究院，北京100071
  2. 国防科技大学空天科学学院，湖南长沙410073
- 作者简介：
- 基金信息：
- DOI：10.11959/j.issn.2096-6652.201905
  CLC： TP242.6
- Published Online：2019-03，
  
  Published：20 March 2019
- 稿件说明：
移动端阅览
Xiang ZHANG, Hongwei LIU, Zhuoqun LIU, et al. Dynamical modeling and intelligent control of space soft manipulator[J]. Chinese journal of intelligent science and technology, 2019, 1(1): 52-61.
DOI：

Xiang ZHANG, Hongwei LIU, Zhuoqun LIU, et al. Dynamical modeling and intelligent control of space soft manipulator[J]. Chinese journal of intelligent science and technology, 2019, 1(1): 52-61. DOI： 10.11959/j.issn.2096-6652.201905.

摘要

空间智能软体机械臂因其结构轻巧、灵活可变、可折叠收缩等特性，在航天器在轨服务任务中，将具有广阔的应用前景。首先提出了一种全向驱动的模块化软体机械臂设计方案，利用刚柔耦合动力学理论建立了气控驱动的软体机械臂动力学模型，基于深度回归卷积神经网络理论建立了空间非合作目标检测与识别算法，为空间软体机械臂智能控制奠定了技术基础。进一步地，设计并研制了软体机械臂地面原理样机及其试验系统，通过地面试验，对软体机械臂的自主运动控制和识别算法进行了初步验证。

Abstract

Space intelligent soft manipulator shows a broad prospect in the application of on-orbit service

due to its lightweight

dexterity and foldability.In this paper

a design of a modular soft manipulator with omnidirectional drivers was proposed.The dynamical model of the proposed soft manipulator was developed based on the rigid-flexible coupling system dynamics.The detection and recognition algorithm for space non-cooperative objects was designed based on deep regression convolution neural network.Both the dynamical model and the algorithm are the foundation for the intelligent control of the soft manipulator.Moreover

an experiment system of the soft manipulator was designed and developed

and the autonomous motion control and the recognition algorithm were validated.

关键词

Keywords

references

VOISEMBERT S , RIWAN A , MECHBAL N , et al . A novel inflatable robot with constant and continuous volume [C ] // IEEE International Conference on Robotics and Automation . IEEE , 2011 : 5843 - 5848 .

SANAN S , LYNN P S , GRIFFITH S T . Pneumatic torsional actuators for inflatable robots [J ] . Journal of Mechanisms ＆ Robotics , 2014 , 6 ( 3 ):031003.

QI R H , LAM T L , XU Y . Mechanical design and implementation of a soft inflatable robot arm for safe human-robot interaction [C ] // IEEE International Conference on Robotics and Automation . IEEE , 2014 : 3490 - 3495 .

QI R H , LAM T L , XU Y . Kinematic modeling and control of a multi-joint soft inflatable robot arm with cable-driven mechanism [C ] // IEEE International Conference on Robotics and Automation . IEEE , 2014 : 4819 - 4824 .

MCMAHAN W , CHITRAKARAN V , CSENCSITS M , et al . Field trials and testing of the OctArm continuum manipulator [C ] // IEEE International Conference on Robotics and Automation . IEEE , 2006 : 2336 - 2341 .

RENDA F , CIANCHETTI M , GIORELLI M , et al . A 3D steady-state model of a tendon-driven continuum soft manipulator inspired by the octopus arm [J ] . Bioinspiration ＆ Biomimetics , 2012 , 7 ( 2 ):025006.

LIPOMI D J , MARTINEZ R V , WHITESIDES G M . Use of thin sectioning (nanoskiving) to fabricate nanostructures for electronic and optical applications [J ] . Angewandte Chemie International Edition , 2011 , 50 ( 37 ): 8566 - 8583 .

ZHENG T , BRANSON D T , GUGLIELMINO E , et al . A 3D dynamic model for continuum robots inspired by an octopus arm [C ] // IEEE International Conference on Robotics and Automation . IEEE , 2011 : 3652 - 3657 .

RONE W S , BEN-TZVI P . Continuum robot dynamics utilizing the principle of virtual power [J ] . IEEE Transactions on Robotics , 2014 , 30 ( 1 ): 275 - 287 .

WEBSTER III R J , JONES B A . Design and kinematic modeling of constant curvature continuum robots:a review [J ] . International Journal of Robotics Research , 2010 , 29 ( 13 ): 1661 - 1683 .

TATLICIOGLU E , WALKER I D , DAWSON D M . Dynamic modeling for planar extensible continuum robot manipulators [C ] // IEEE International Conference on Robotics and Automation . IEEE , 2007 : 1357 - 1362 .

TRIVEDI D , LOTFI A , RAHN C D . Geometrically exact models for soft robotic manipulators [J ] . IEEE Transactions on Robotics , 2008 , 24 ( 4 ): 773 - 780 .

Views

269

下载量

CSCD

Alert me when the article has been cited

提交

Tools

Publicity Resources

Parallel control and digital twins:control theory revisited and reshaped

Related Author

Fei-Yue WANG

Related Institution

The State Key Laboratory for Management and Control of Complex Systems, Institute of Automation, Chinese Academy of Sciences

University of Chinese Academy of Sciences

Qingdao Academy of Intelligent Industries

Postal code：100079
Tel：（010）53879206 Email：cjist@bjxintong.com.cn
Technical support is provided by Beijing Founder electronics co., LTD 京ICP备09064830号-19 京公网安备11010802024621
It is recommended to read the content of this site in Chrome&IE9+. Please switch to extreme mode in browser 360.
Cookies We use cookies to help provide and enhance our service and tailor content. By continuing, you agree to the use of cookies.
Total Visits：35641 Visits Today：116

⁰