Forward Kinematics Solution for Cable-Driven Hyper-Redundant Manipulators Based on BiLSTM
Journal Title: Precision Mechanics & Digital Fabrication - Year 2025, Vol 2, Issue 1
Abstract
This paper investigates the kinematic solution of cable-driven hyper-redundant manipulators, focusing on the transformation from the cable-driven space to the joint space. Two forward kinematics solution networks based on residual networks and bidirectional long short-term memory (BiLSTM) networks are proposed and compared. First, a single-joint kinematic model is established based on the topology of the cable-driven hyper-redundant manipulator, providing the mapping relationship between cable length variations and joint angles. The decoupling problem between the cable-driven space and joint space is analyzed, extending the decoupling method from a two-joint scenario to a multi-joint scenario, leading to the derivation of coupled equations between cable lengths and joint angles. Subsequently, both a single-joint forward kinematics solution network and a multi-joint forward kinematics solution network are designed and trained separately. Finally, their performance is evaluated using a test dataset. The results demonstrate that the multi-joint forward kinematics solution network significantly outperforms the single-joint network in terms of both accuracy and computational efficiency.
Authors and Affiliations
Tianao Wang, Zhenghao Liang, Guolei Wang
Keywords
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- EP ID EP767845
- DOI https://doi.org/10.56578/pmdf020104
- Views 8
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