Martín Andrés, Barrientos Antonio, Del Cerro Jaime
Centre for Automation and Robotics (UPM-CSIC) , Technical University of Madrid, Madrid, Spain .
Soft Robot. 2018 Jun;5(3):242-257. doi: 10.1089/soro.2017.0009. Epub 2018 Mar 22.
This article presents a new method to solve the inverse kinematics problem of hyper-redundant and soft manipulators. From an engineering perspective, this kind of robots are underdetermined systems. Therefore, they exhibit an infinite number of solutions for the inverse kinematics problem, and to choose the best one can be a great challenge. A new algorithm based on the cyclic coordinate descent (CCD) and named as natural-CCD is proposed to solve this issue. It takes its name as a result of generating very harmonious robot movements and trajectories that also appear in nature, such as the golden spiral. In addition, it has been applied to perform continuous trajectories, to develop whole-body movements, to analyze motion planning in complex environments, and to study fault tolerance, even for both prismatic and rotational joints. The proposed algorithm is very simple, precise, and computationally efficient. It works for robots either in two or three spatial dimensions and handles a large amount of degrees-of-freedom. Because of this, it is aimed to break down barriers between discrete hyper-redundant and continuum soft robots.
本文提出了一种解决超冗余和柔性机器人逆运动学问题的新方法。从工程角度来看，这类机器人是欠定系统。因此，它们的逆运动学问题有无数个解，选择最佳解可能是一项巨大挑战。为解决此问题，提出了一种基于循环坐标下降法（CCD）的新算法，称为自然CCD算法。它之所以得名，是因为能生成非常和谐的机器人运动和轨迹，这些运动和轨迹在自然界中也有出现，比如黄金螺旋线。此外，它已被应用于执行连续轨迹、开发全身运动、分析复杂环境中的运动规划以及研究容错能力，甚至适用于棱柱形和旋转关节。所提出的算法非常简单、精确且计算效率高。它适用于二维或三维空间中的机器人，可处理大量自由度。正因如此，旨在打破离散超冗余机器人和连续体柔性机器人之间的障碍。
