对于连续操纵器来说,减少顺序建模和模型顺序缩小:概述
S M H Sadati1, S Elnaz Naghibi2, Lyndon da Cruz3,4
1Robotics and Vision in Medicine (RViM) Lab, School of Biomedical Engineering and Imaging Sciences, King's College London, London, United kingdom.
Frontiers in robotics and AI
|October 2, 2023
概括
本审查澄清了软机器人控制的减少订单建模 (ROM) 和模型订单减少 (MOR). 它将这些技术区分开来,帮助研究人员为软机器人应用选择高效的计算模型.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 控制工程 控制工程 控制工程
- 计算力学 计算力学 计算力学
背景情况:
- 软机器人表现出复杂的动态,需要专门的控制建模技术.
- 在几何精确模型 (Cosserat棒,FEM) 中的高维配置空间阻碍了软机器人的控制器设计.
- 减少订单建模 (ROM) 和模型订单减少 (MOR) 正在成为软机器人计算挑战的解决方案.
研究的目的:
- 为专为连续机器人和软机器人技术提供ROM和MOR技术的第一个全面调查.
- 为了澄清ROM和MOR之间的区别,因为它们的术语经常互换使用.
- 帮助软机器人研究人员为控制任务选择计算效率高的模型.
主要方法:
- 关于减少顺序建模 (ROM) 技术的深入文献综述.
- 对模型顺序减少 (MOR) 技术进行深入的文献审查,特别是那些适用于有限元法 (FEM) 模型的技术.
- 在软机器人学背景下对ROM和MOR假设和实现进行比较分析.
主要成果:
- 确定ROM和MOR对于克服软机器人建模中的维度挑战至关重要.
- 突出了ROM与MOR的独特理论基础和实际实施.
- 建立了基础知识,以根据特定软机器人应用选择合适的建模技术.
结论:
- ROM和MOR是开发计算效率高的软机器人模型的不同但至关重要的方法.
- 清楚地了解ROM和MOR的差异对于推进软机器人控制至关重要.
- 本综述是研究人员有效应用这些建模技术的指南.
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