Model reduction methods for optimal follow-the-leader movements of binary actuated, hyper-redundant robots

verfasst von

Svenja Tappe, Dairong Yu, Jens Kotlarski, Tobias Ortmaier

Abstract

A hyper-redundant shaft concept based on unique binary, electromagnetic tilting actuators was proposed for various examination tasks of difficultly accessible areas. Its specific design combines two important aspects required in endoscopic applications: it provides good path following capabilities in combination with high resistance against manipulation forces due to its kinematics and its actuation principle. For endoscope-like exploration, a commonly known follow-the-leader idea is adapted to the binary actuation. It is an efficient and intuitive path planning algorithm promising high path following accuracy. However, classical follow-the-leader approaches are designed for continuously adjustable joints. Hence, their applicability to binary actuated systems is limited. To achieve good path following capabilities optimal switching sequences during forward motion are necessary, resulting in a high computational effort. Therefore, this paper aims to analyze occurring deviations with respect to kinematic relations and proposes based on these results reduced models, i.e. simplified cost functions, for an efficient calculation of optimized switching sequences.

Organisationseinheit(en)

Institut für Mechatronische Systeme

Typ

Aufsatz in Konferenzband

Seiten

35-43

Anzahl der Seiten

9

Publikationsdatum

2018

Publikationsstatus

Veröffentlicht

Peer-reviewed

Ja

ASJC Scopus Sachgebiete

Werkstoffmechanik, Maschinenbau

Elektronische Version(en)

https://doi.org/10.1007/978-3-319-60867-9_5 (Zugang: Geschlossen)