The Path Integral Motion Planning of the Cable-Driven Segmented Redundant Manipulators

The hyper-redundant manipulator has been widely used in small spaces and dangerous scenes due to its flexibility and manipulability. However, since the cable-driven segmented redundant manipulators(CSRM) with active and passive combination studied in this paper has hyper redundant degrees of freedom (DoFs), their kinematics modeling and motion planning is always tricky. This paper proposes a kinematics model based on the product of the exponential(PoE) formula and the path integral motion planner (PIMP) to solve the motion planning of CSRM. The kinematics model based on the PoE formula can improve the calculation speed of forward and inverse kinematics. For iterative optimization, the PIMP can add non-differentiable quantities, such as obstacles and motor torque, to the objective function. We conduct the experiments, and the result shows that the correct kinematic model and PIMP can effectively obtain a smooth and collision-free path.