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	A Constrained Path Following Method for Snake-like Manipulators via Controlled Winding Uncoiling Strategy
	Mingrui, Luo1,2; Yunong, Tian1,2; Yinghua, Cao1,2; Minghao, Chen1,2; Yanfeng, Zhang1,2; En, Li1,2; Min, Tan2
	2024
会议日期	2024-5-13
会议地点	Yokohama, Japan
英文摘要	Benefting from its hyper-redundant structure, the biomimetic snake-like manipulator retains its remarkable fexibility even within confned spaces. However, its motion planning and control pose signifcant challenges. This paper imitates the winding uncoiling behavior of snakes to achieve controllable constrained path following. Firstly, based on control points, a recursive computational model and an equivalent planning angle model are established, enabling effcient and analytical determination of joint positions, collision regions, and motion parameters during the path following. Subsequently, the sliding control point algorithm and motion smoothing restriction algorithm are designed. The former ensures that the remaining segments during following strictly remain within the collision free regions defned by the base and path controls, while the latter smooths the control parameters based on velocity and acceleration limitations. Finally, simulation and practical experiments demonstrate the feasibility of the proposed methods. The prototype that applied our method can reach targets and accomplish tasks, further validating the applicability of the snake-like manipulator.
内容类型	会议论文
源URL	[http://ir.ia.ac.cn/handle/173211/57114]
专题	中科院工业视觉智能装备工程实验室
通讯作者	En, Li
作者单位	1.the Engineering Laboratory of Industrial Vision and Intelligent Equipment Technology, Institute of Automation, Chinese Academy of Sciences 2.the School of Artifcial Intelligence, University of Chinese Academy of Sciences
推荐引用方式 GB/T 7714	Mingrui, Luo,Yunong, Tian,Yinghua, Cao,et al. A Constrained Path Following Method for Snake-like Manipulators via Controlled Winding Uncoiling Strategy[C]. 见:. Yokohama, Japan. 2024-5-13.

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