Research On Visual Interactive Control Strategy Of Cable-driven Serpentine Manipulator

The serpentine manipulator is able to flexibly adjust its attitude,safely traverse the confined space,and perform various tasks through different end effectors.Hence,the serpentine manipulator has broad application prospects in the complex environment that traditional industrial robot manipulators cannot enter.However,compared with the traditional industrial manipulator,the mechanical structure of the serpentine manipulator is much more complicated and driving modes are different.The large amount of redundant DOFs ensures great flexibility of the manipulator while also causing great control difficulty.In view of the difficulty in adjusting the attitude of the serpentine manipulator and the inefficiency of operation,this paper studies the interactive control strategy of the tandem type serpentine manipulator.Attitude control methods suitable for different occasions are proposed at the two levels of the whole arm attitude adjustment and the end smart operation.In view of the parallel cable drive mode,the multi-joint drive decoupling method is analyzed according to the kinematics model established,and the independent joint control of the serpentine manipulator is realized.Based on this,the simulation of motion control of the serpentine manipulator is researched through the 3D visualization technology,and the 3D reconstruction technology is used to simulate the operation process in the real scene.Finally,the control experiment of the serpentine manipulator prototype is carried out and compared to verify the correctness of the simulation results and the effectiveness of the interactive control strategy.The proposed method can meet the control requirements of the overall attitude and end positioning of the actual serpentine manipulator,simplify the operation process,and improve the work efficiency.The research content of this paper is divided into six chapters,briefed as follows.Chapter 1 introduced the research status of the serpentine manipulator,its control technology and the visualization simulation technology in engineering.The research objective was proposed,and the research content and technical route were determined.In chapter 2,the kinematics analysis was carried out according to the mechanical structure and driving principle of the serpentine manipulator.The configuration space-task space mapping and the configuration space-actuator space mapping were studied.Based on the analysis of three-line driving principle,the multi-joint drive decoupling is realized.In chapter 3,a variety of attitude control strategies suitable for different occasions were studied.Using Matlab for numerical calculation,the motion of the serpentine manipulator under different control strategies was obtained according to the configuration space-task space mapping.In chapter 4,the construction process of the simulation platform was introduced.The interactive task simulations in the virtual scene and the actual scene were performed.The model of the actual scene was obtained through 3D reconstruction.In chapter 5,different interactive control strategies were tested on the serpentine manipulator prototype,which verified the correctness of the theoretical analysis and simulation results.In addition,the efficiency of the control algorithm was analyzed,and the proposed method was proved to meet the practical application demand.In chapter 6,the main conclusions of the research were summarized.The future work was discussed according to the current progress and the research to be continued was indicated.