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基于cosserat梁理论对线驱动型章鱼臂进行数学建模,利用Matlab实现手臂弯曲角度控制.在建立三维稳态章鱼操作臂的基础上,通过微分方程描述手臂形变,快速响应输入,并输出期望弯曲角度.利用相关性分析得到输入曲线斜率和输出章鱼臂曲线斜率的相关性为0.901 8,验证该方法有较高准确度,具有实际意义.该建模方法具有一般性,适用于其他种类的线驱动型操作臂.
Based on the theory of cosserat beam, the octopus arm of line-driven model is mathematically modeled, and the arm bending angle is controlled by Matlab.On the basis of establishing the three-dimensional steady-state octopus manipulator arm, the differential equations are used to describe the arm deformation, respond quickly to the input and output the desired bending The correlation between the input curve slope and the output octopus curve slope is 0.901 8. It is of practical significance to verify the accuracy of the proposed method.This modeling method is general and suitable for other kinds of lines Driven operating arm.