Inverse Transmission Model and Compensation Control of a Single-Tendon-Sheath Actuator
Inverse Transmission Model and Compensation Control of a Single-Tendon-Sheath Actuator
复制标题
单腱鞘执行器的逆传动模型与补偿控制
DOI：
10.1109/tie.2013.2258300
复制
发表时间：
2014-03-01
影响因子：
7.7
通讯作者：
Xu, W. L.
中科院分区：
文献类型：
--
作者：
Chen, Lin;Wang, Xingsong;Xu, W. L.
腱鞘驱动机构由于其简单、灵巧和远程传输的特点，在外科手术机器人、机械手和外骨骼设备等许多应用中都很受欢迎。然而，在肌腱鞘传动中存在着不理想的非线性动力特性，如间隙、滞后和摩擦。精确控制远端位置和力是一项非常具有挑战性的任务，因为所需的传感器很难放置在系统的远端。在力传递模型的基础上，建立了单肌腱鞘传动系统的位移传递模型，提出了一种无需输出侧反馈的反传递控制远端力和位置的新方法。通过安装在近端的传感器进行离线测量，对逆模型进行校准。提出了单肌腱鞘驱动的实验装置，并通过实验验证了改进后的控制性能，包括远端位置和力跟踪。
Tendon-sheath actuation mechanism is popular in many applications such as surgical robots, robotic hands, and exoskeleton devices due to its simplicity, dexterity, and remote transmission. There exist, however, undesirable nonlinear dynamic properties like backlash, hysteresis, and friction in tendon-sheath transmission. Controlling the distal-end position and force accurately is a very challenging task, since the needed sensors can hardly be placed at the distal end of the system. This paper develops a displacement transmission model of a single-tendon-sheath transmission system based on the force transmission model and proposes a new approach to control the distal-end force and position by inverse transmission without any feedback from the output side. The inverse model is calibrated by offline measurements using the sensors mounted at the proximal end. An experimental setup of single-tendon-sheath actuation is presented, and the improved control performance, with respect to distal-end position and force tracking, is validated by experiments.