提出新变换方法，让任意位置的机械臂关节都能统一建模与控制。
Clarke Transform and Encoder-Decoder Architecture for Arbitrary Joints Locations in Displacement-Actuated Continuum Robots
- 基于改进的Clarke变换，支持任意分布的关节位置建模。
- 通过编码器-解码器架构实现不同结构间关节值的直接转换。
- 适合需要跨设计迁移知识的柔性机器人控制系统研发者。
本文研究了位移驱动连续体机器人中任意数量及任意位置关节的建模问题。通过重新推导Clarke变换，提出一种可处理任意关节分布的新公式，突破了传统对称布局的限制。基于该变换构建编码器-解码器架构，使不同机器人设计间的关节值可相互转换，支持相似结构设计的知识迁移。仿真中验证了其在控制与轨迹生成中的通用性，可无缝集成至如三关节对称结构等现有框架中。
原文摘要 · Abstract (English)
In this paper, we consider an arbitrary number of joints and their arbitrary joint locations along the center line of a displacement-actuated continuum robot. To achieve this, we revisit the derivation of the Clarke transform leading to a formulation capable of considering arbitrary joint locations. The proposed modified Clarke transform opens new opportunities in mechanical design and algorithmic approaches beyond the current limiting dependency on symmetric arranged joint locations. By presenting an encoder-decoder architecture based on the Clarke transform, joint values between different robot designs can be transformed enabling the use of an analogous robot design and direct knowledge transfer. To demonstrate its versatility, applications of control and trajectory generation in simulation are presented, which can be easily integrated into an existing framework designed, for instance, for three symmetric arranged joints.
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