Path Planning of a Continuum Robot's End-effector for Assembly Missions in Unstructured Environments
- Resource Type
- Conference
- Authors
- Qiu, Xiaolu; Cai, Zhiqin; Peng, Haijun
- Source
- 2022 IEEE 5th Advanced Information Management, Communicates, Electronic and Automation Control Conference (IMCEC) Advanced Information Management, Communicates, Electronic and Automation Control Conference (IMCEC), 2022 IEEE 5th. 5:539-543 Dec, 2022
- Subject
- Communication, Networking and Broadcast Technologies
Computing and Processing
Engineering Profession
Robotics and Control Systems
Three-dimensional displays
Costs
Simulation
Force
Human factors
Switches
End effectors
continuum robot's end-effector
interaction model
motion description language
contact force and position dual feedback
path planning
- Language
- ISSN
- 2693-2776
A path planning method a continuum robot's end-effector is proposed using the motion description language (MDL) to avoid excessive operation to the targets for an assembly mission in unstructured environments. First, an interaction model between the end-effector and contact environments is established. Then, five motion atoms are defined for the assembly operation based on MDL to describe the 3D motion of the end-effector. Finally, path planning of the end-effector is completed via contact force and position dual feedback. The simulation results show that the proposed method can improve real-time performance and reduce communication times compared with those of manual controls.