Программная реализация метода управления манипулятором щупальца, эксплуатируемого в экстремально сложных условиях

Abstract

In the present study, we have developed software for controlling the tentacle manipulator, using deep neural learning, object recognition technology and creating a formative one in the form of a cubic spline. In our work, we used a positioning pitch along the spline of 15 mm, positioning accuracy of 0.00001, while the length of the (i) segment reached 65 mm, and the distance from the axis of the spline to the actuator was 35 mm.