Research on Trajectory Planning of Snake Robot Driven by Redundant Rope
Redundant rope-driven robot,flexible and different to traditional manipulator which is incabable of entering the narrow and closed space for operation,has potentiality for application in a narrow and closed space.To cope with the obstacle avoidance trouble of redundant cable-driven manipulator operating in a narrow space,a set of trajectory planning algorithm is proposed,which implements the search algorithm to obtain the initial planning path in discrete mode,selects the key points of the initial planning path by the equal interval method,and generates a feasible path from the key points based on the cubic B-spline curve.The simulation experiments verify the feasibility and effectiveness of the proposed algorithm.
万方数据
维普
