Visual Tracking Control of Cable-Driven Hyper-Redundant Snake-Like Manipulator

The cable-driven hyper-redundant snake-like manipulator (CHSM) inspired by the biomimetic structure of vertebrate muscles and tendons, which consists numerous joint units connected adjacently driven elastic materials with DOF, performs flexible kinematic skills competitive compound capability under complicated working circumstances. Nevertheless, drawback lacking ability to perceive environment perform intelligently in complex scenarios leaves a lot be improved, is original intention introduce visual tracking feedback acting as an instructor. In this paper, robotic arm combined technique introduced. A approach based on dual correlation filter designed guide CHSM detecting target tracing after its trajectory. Specifically, it contains adaptive optimization for scale variation via pyramid sampling. For CHSM, explicit kinematics model derived from specific geometry relationships followed simplification inverse some assumption or limitation. control scheme brought up combine processing errors. experimental results practical prototype validate availability proposed method model.