Dynamic modeling of soft continuum manipulators using lie group variational integration
Dynamic modeling of soft continuum manipulators using lie group variational integration
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DOI：
10.1371/journal.pone.0236121
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发表时间：
2020-07-22
期刊：
影响因子：
3.7
通讯作者：
Misra, Sarthak
中科院分区：
文献类型：
--
作者：
Tariverdi, Abbas;Venkiteswaran, Venkatasubramanian Kalpathy;Misra, Sarthak
本文给出了基于李群变分积分的软连续介质机械手建模和估计算法的推导和实验验证。现有的方法一般仅限于静态和准静态分析，对于动态运动没有得到充分的验证。然而，在一些应用中，模型需要考虑连续体机械手的动力学行为。所提出的建模和估计公式是根据离散变分原理得到的，因此赋予了连续介质力学模型突出的守恒性。本文的主要贡献是通过对金属杆和聚合物基软杆进行不同的实验，对包括外力矩和外力(例如，由磁场、摩擦和重力产生的力)的软连续统机械手的动力学模型进行了实验验证。为了在验证过程中考虑耗散力，提出了分布式估计滤波器。实验和数值测试也说明了该算法在磁力驱动的软连续体机械手上的性能。该模型对聚二甲基硅氧烷(PDMS)棒尖端位置的估算与动态实验结果吻合较好。实验结果表明，对于长度为60.55 mm的机械手，其末端位置估计的平均绝对误差和最大误差分别为0.13 mm和0.58 mm。
This paper presents the derivation and experimental validation of algorithms for modeling and estimation of soft continuum manipulators using Lie group variational integration. Existing approaches are generally limited to static and quasi-static analyses, and are not sufficiently validated for dynamic motion. However, in several applications, models need to consider the dynamical behavior of the continuum manipulators. The proposed modeling and estimation formulation is obtained from a discrete variational principle, and therefore grants outstanding conservation properties to the continuum mechanical model. The main contribution of this article is the experimental validation of the dynamic model of soft continuum manipulators, including external torques and forces (e.g., generated by magnetic fields, friction, and the gravity), by carrying out different experiments with metal rods and polymer-based soft rods. To consider dissipative forces in the validation process, distributed estimation filters are proposed. The experimental and numerical tests also illustrate the algorithm's performance on a magnetically-actuated soft continuum manipulator. The model demonstrates good agreement with dynamic experiments in estimating the tip position of a Polydimethylsiloxane (PDMS) rod. The experimental results show an average absolute error and maximum error in tip position estimation of 0.13 mm and 0.58 mm, respectively, for a manipulator length of 60.55 mm.