交错连续刚性机械臂的冗余设计与自适应控制

数据集获取（Figshare）

• 源站标题：Redundant Design and Adaptive Control of an Interleaved Continuum Rigid Manipulator
• DOI：10.6084/m9.figshare.4440002.v1
• 发布日期：2016-12-15
• 文件数：1 个
• 文件总体积：105.08 MB
• 源站页面：https://figshare.com/articles/thesis/Redundant_Design_and_Adaptive_Control_of_an_Interleaved_Continuum_Rigid_Manipulator/4440002

命令行下载

curl -L -o "20161121_Conrad_RedundantDesignAndAdaptiveControlOfAnInterleavedContinuumRigidManipulator.pdf" "https://ndownloader.figshare.com/files/7167725"

文件清单

• 20161121_Conrad_RedundantDesignAndAdaptiveControlOfAnInterleavedContinuumRigidManipulator.pdf（105.08 MB）

文件总体积 105.08 MB（源站 API 实测）。

数据加载示例（图像类）

from PIL import Image
import glob, os

files = (glob.glob(os.path.join(path, "**", "*.png"), recursive=True)
       + glob.glob(os.path.join(path, "**", "*.jpg"), recursive=True)
       + glob.glob(os.path.join(path, "**", "*.tif"), recursive=True))
print("图像文件数:", len(files))
img = Image.open(files[0]); print("尺寸/模式:", img.size, img.mode)

# torchvision Dataset 方式:
# from torchvision import datasets
# ds = datasets.ImageFolder(path)  # 要求 子目录=类别

目录组织与标注格式以源站说明和下载后实际文件为准。

数据说明

Continuum manipulator compliance enables operation in delicate environments at the cost of challenging actuation and control. In the case of catheter ablation of atrial fibrillation, the compliance of the continuum backbone lends an inherent safety to the device. This inherent safety frustrates attempts at precise, accurate, and fast control, limiting these devices to simple, static positioning tasks. This dissertation develops Interleaved Continuum-Rigid Manipulation, by which the hysteretic nonlinearities encountered in tendon-actuated continuum manipulators are compensated by discrete rigid joints located between continuum sections. The rigid joints introduce actuation redundancy, which an interleaved controller may use to avoid continuum nonlinearities and dynamic excitations, or to prefer particular configurations that may improve task accuracy, permit greater end-effector forces, or avoid environment obstacles. Two experimental systems explore the potential of these joints to 1) correct for actuation nonlinearities and enhance manipulator performance and 2) increase the manipulator’s dexterous workspace. These experiments expose important design and control observations that were not apparent in the general robotic and continuum literature.

许可

CC BY 4.0

引用

学术使用请引用 DOI 10.6084/m9.figshare.4440002.v1（source: https://figshare.com/articles/thesis/Redundant_Design_and_Adaptive_Control_of_an_Interleaved_Continuum_Rigid_Manipulator/4440002）。