Inverse kinematics solution for snake manipulator arm based on backbone self-correction
The rope-driven snake manipulator is equipped with hyper-redundancy motion characteristic,which improves its flexibil-ity and obstacle avoidance ability.However,due to the arm's excessive degrees of freedom,it makes its inverse kinematics solution very complicated,posing challenges to real-time motion planning.In this article,a novel approach is adopted to solve the inverse kine-matics of the snake manipulator arm,by optimizing the backbone and joint solutions;as a result,efficient and real-time motion plan-ning is realized.Firstly,the kinematics model of the snake manipulator arm is constructed,and the mapping relationship between the joint space and the workspace is identified.Secondly,the reference backbone solving strategy based on the multi-colony ant colony opti-mization is proposed,and the shift-correction method is designed to work out the spatial configuration of the multi-task point backbone,therefore reducing the computational burden of complex backbone solving.Additionally,in combination with the parallel convergent rules,the joint optimization and adjustment method is designed to derive the joint angles of the snake manipulator arm,thus achieving the continu-ous change in the joint angle.Finally,the experiments demonstrate that thanks to the inverse kinematics solution,computation complexity has reduced effectively,the validity and continuity of the joint angles are ensured,and the information on the end pose is precise.
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