整合系统架构、计算与控制的连续体机器人统一框架
A Multimedia Framework for Continuum Robots: Systematic, Computational, and Control Perspectives
- 在CAD平台内集成系统设计、动力学计算与控制策略
- 实现快速建模与性能预览，支持迭代开发
- 适合机器人研发人员和跨学科协作团队使用
连续体机器人因其适应性强、响应快、柔性好，在人机交互（HCI）各类应用中展现出巨大潜力。然而，缺乏统一的集成框架导致用户和开发者在初期开发中效率低下、流程复杂。为此，本文提出一种面向连续体机器人的统一框架，将系统架构、动力学计算与控制策略集成于计算机辅助设计（CAD）平台中。该方法支持高效建模与快速性能预览，促进设计迭代与实现，提升机器人研发质量。
原文摘要 · Abstract (English)
Continuum robots, which often rely on interdisciplinary and multimedia collaborations, have been increasingly recognized for their potential to revolutionize the field of human-computer interaction (HCI) in varied applications due to their adaptive, responsive, and flexible characteristics. Despite their promises, the lack of an integrated framework poses a significant limitation for both users and developers, resulting in inefficiency and complexity during preliminary developments. Thus, this paper introduces a unified framework for continuum robotic systems that addresses these challenges by integrating system architecture, dynamics computation, and control strategy within a computer-aided design (CAD) platform. The proposed method allows for efficient modeling and quick preview of the robot performance, and thus facilitating iterative design and implementation, with a view to enhancing the quality of robot developments.
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