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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
Department机器人学研究室
Conference Name17th IEEE International Conference on Mechatronics and Automation, ICMA 2020
Conference DateOctober 13-16, 2020
Conference PlaceBeijing, China
Source Publication2020 IEEE International Conference on Mechatronics and Automation, ICMA 2020
PublisherIEEE
Publication PlaceNew York
2020
Pages1774-1779
Indexed ByEI
EI Accession number20204809539140
Contribution Rank1
ISBN978-1-7281-6415-1
Keywordsnake-like manipulator improved backbone mode method forward kinematics inverse kinematics
AbstractSnake-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.
Language英语
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/27960
Collection机器人学研究室
Corresponding AuthorWang Z(王轸); Chang J(常健)
Affiliation1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, 110016, Shenyang
2.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, 110169, Shenyang
3.University of Chinese Academy of Sciences, 100049, Beijing
Recommended Citation
GB/T 7714
Wang Z,Chang J,Li B,et al. Kinematics Solution of Snake-like Manipulator Based on Improved Backbone Mode Method[C]. New York:IEEE,2020:1774-1779.
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