[1] Buckingham R,Chitrakaran V,Conkie R,et al. Snake-arm robots:A new approach to aircraft assembly[R]. SAE,2007. [2] Bogue R. Robots in the nuclear industry:A review of technologies and applications[J]. Industrial Robot:An International Journal,2011,38(2):113-118. [3] Wolf A,Choset H H,Brown B H,et al. Design and control of a mobile hyper-redundant urban search and rescue robot[J]. Advanced Robotics,2005,19(3):221-248. [4] Hannan M W,Walker I D. Analysis and initial experiments for a novel elephan’s trunk robot[C]// Proceedings 2000 IEEE/RSJ International Conference on,2000:330-337. [5] Tang L,Wang J,Zheng Y,et al. Design of a cable-driven hyper-redundant robot with experimental validation[J]. The International Journal of Advanced Robotic Systems,2017,14(5):1-12. [6] Simaan N,Xu K,Wei W,et al. Design and integration of a telerobotic system for minimally invasive surgery of the throat[J]. The International Journal of Robotics Research,2009,28(9):1134-1153. [7] 曹玉君,尚建忠,梁科山,等. 软体机器人研究现状综述[J]. 机械工程学报,2012,48(3):25-33. CAO Yujun,SHANG Jianzhong,LIANG Keshan,et al. Review of soft-bodied robots picking[J]. Journal of Mechanical Engineering,2014,48(3):25-33. [8] Khatib O. Real-time obstacle avoidance for manipulators and mobile robots[J]. The International Journal of Robotics Research,1986,5(1):90-98. [9] 张建英,赵志萍,刘暾. 基于人工势场法的机器人路径规划[J]. 哈尔滨工业大学学报,2006,38(8):1306-1309. ZHANG Jianying,ZHAO Zhiping,LIU Dun. A path planning method for mobile robot based on artificial potential field[J]. Journal of Harbin Institute of Technology,2006,38(8):1306-1309. [10] Xia Y,Wang J. A dual neural network for kinematic control of redundant robot manipulators[J]. IEEE Transactions on Systems,Man,and Cybernetics,Part B (Cybernetics),2001,31(1):147-154. [11] Liu Y,Wang K,Yang J. Optimal path modeling for redundant robot based on genetic algorithm[J]. Transactions of the China Welding Institution,2007,28(11):25-28. [12] Yung N H C,Ye C. An intelligent mobile vehicle navigator based on fuzzy logic and reinforcement learning[J]. IEEE Transactions on Systems,Man,and Cybernetics,Part B (Cybernetics),1999,29(2):314-321. [13] Choset H,Henning W. A follow-the-leader approach to serpentine robot motion planning[J]. Journal of Aerospace Engineering,1999,12(2):65-73. [14] Chirikjian G S,Burdick J W. An obstacle avoidance algorithm for hyper-redundant manipulators[C]// Proceedings of Robotics and Automation,1990:625-631. [15] Conkur E S. Path following algorithm for highly redundant manipulators[J]. Robotics and Autonomous Systems,2003,45(1):1-22. [16] 夏嫣红,李立. 平面超冗余机构基于脊线初始位形的避障研究[J]. 机械设计与研究,2007,23(2):43-46. XIA Yanhong,LI Li. Obstacle avoidance based on initial configuration of backbone curve for hyper-redundant robotic mechanism[J]. Machine Design & Research,2007,23(2):43-46. [17] Andersson S B. Discretization of a continuous curve[J]. IEEE Transactions on Robotics,2008,24(2):456-461. [18] Palmer D,Cobos-Guzman S,Axinte D. Real-time method for tip following navigation of continuum snake arm robots[J]. Robotics and Autonomous Systems,2014,62(10):1478-1485. [19] 贾庆轩,陈钢,孙汉旭,等. 基于A*算法的空间机械臂避障路径规划[J]. 机械工程学报,2010,46(13):109-115. JIA Qingxuan,CHEN Gang,SUN Hanxu,et al. Path planning for space manipulator to avoid obstacle based on A* algorithm[J].Journal of Mechanical Engineering,2010,46(13):109-115. [20] 柳长安,鄢小虎,刘春阳,等. 基于改进蚁群算法的移动机器人动态路径规划方法[J]. 电子学报,2011,39(5):1220-1224. LIU Changan, YAN Xiaohu, LIU Chunyang,et al. Dynamic path planning for mobile robot based on improved ant colony optimization algorithm[J].Acta Electronica Sinica,2011,39(5):1220-1224. [21] 王金敏,崔奇,初楠. 运用三次样条曲线拟合机器人运动路径[J]. 机械设计,2005,22(7):44-46. WANG Jinmin,CUI Qi,CHU Nan. Utilizing cubic spline curve to match the path of robotic movement[J].Journal of Mechanical Design,2005,22(7):44-46. [22] 吴宝海,王尚锦. 三维参数曲线的离散算法[J]. 机械科学与技术,2004,23(11):1363-1365. WU Baohai,WANG Shangjin. An algorithm for the discretization of 3D parametric curves[J].Mechanical Science and Technology,2004,23(11):1363-1365. [23] 伍丽峰,陈岳坪,谌炎辉,等. 求点到空间参数曲线最小距离的几种算法[J]. 机械设计与制造,2011(9):15-17. WU Lifeng,CHEN Yueping,CHEN Yanhui,et al. Algorithms on calculating minimum distance between point and spatial parametric curves[J]. Machinery Design & Manufacture,2011(9):15-17. |