提出克拉克变换新方法，解决多肌腱连续机器人状态表示难题
Clarke Transform and Clarke Coordinates -- A New Kid on the Block for State Representation of Continuum Robots
- 用克拉克变换分解肌腱约束，解耦复杂依赖关系
- 统一多种状态表示，简化建模并提升通用性
- 适用于任意数量肌腱的连续机器人，适合机构设计者
几乎所有肌腱驱动的连续机器人，其单段均由三根或四根肌腱驱动，相关约束处理方法已知。但针对任意数量肌腱的情况，尚无有效的解耦方法。为解决这一未解问题，我们探索了状态表示，并利用二维流形特性，发现向量控制中的克拉克变换可推广应用于该场景。本文提出克拉克变换与克拉克坐标，能够克服肌腱间的复杂依赖，简化建模，并统一多种改进的状态表示。进一步与弧长参数关联，为更广泛类型的机器人提供通用化建模可能。
原文摘要 · Abstract (English)
For almost all tendon-driven continuum robots, a segment is actuated by three or four tendons constrained by its mechanical design. For both cases, methods to account for the constraints are known. However, for an arbitrary number of tendons, a disentanglement method has yet to be formulated. Motivated by this unsolved general case, we explored state representations and exploited the two-dimensional manifold. We found that the Clarke transformation, a mathematical transformation used in vector control, can be generalized to address this problem. We present the Clarke transform and Clarke coordinates, which can be used to overcome the troublesome interdependency between the tendons, simplify modeling, and unify different improved state representations. Further connection to arc parameters leads to the possibility to derive more generalizable approaches applicable to a wider range of robot types.
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