{'fraction_non_alphanumeric': 0.014962593516209476, 'fraction_numerical': 0.0024937655860349127, 'mean_word_length': 5.224806201550388, 'pattern_counts': {'":': 0, '<': 0, '<?xml version=': 0, '>': 0, 'https://': 0, 'lorem ipsum': 0, 'www.': 0, 'xml': 0}, 'pii_count': 0, 'substrings_counts': 0, 'word_list_counts': {'cursed_substrings.json': 0, 'profanity_word_list.json': 0, 'sexual_word_list.json': 0, 'zh_pornsignals.json': 0}}
Methods of weakening model in continuum robot control

The modeling of continuum robot is one of the difficulties in this direction due to the large amount of computation, variable coupling and strong nonlinearity. Starting from the model control commonly used in traditional industrial manipulator, this paper analyzes the difficulties of modeling continuum robot, and discusses how to weaken the dependence on model in the control of continuum robot from three aspects of reducing operation, weakening description and bionic motion. Among them, we take the designed 10 DOF elephant trunk robot as the research object, and verify the proposed methods respectively. The purpose of this paper is to provide some ideas and directions for model-weak control and even model-free control of continuum robot.