Constrained Motion Planning of a Cable-Driven Soft Robot With Compressible Curvature Modeling

A cable-driven soft robot with redundancy can perform the tip trajectory tracking task and in meanwhile fulfill some extra constraints, such as a designated orientation, or avoiding obstacles environment. These constraints require proper motion planning of material-based body that be axially compressed. In this letter, we derive compressible curvature kinematics which takes undesirable axial compression caused by mechanism into account. Robot for tasks constrained conditions, including fixed orientation manipulator–obstacle collision avoidance, are investigated. The inverse solution cable actuation is formulated damped least-square optimization problem iteratively computed off-line. performance path tracking, obedience to evaluated via simulation make open-source, well prototype experiments. method generalized similar multisegment robotic systems customizing parameters prior following tasks.