Stiffness Control of Surgical Continuum Manipulators.
Stiffness Control of Surgical Continuum Manipulators.
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DOI：
10.1109/tro.2011.2105410
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发表时间：
2011-04
期刊：
影响因子：
--
通讯作者：
Dupont PE
中科院分区：
文献类型：
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作者：
Mahvash M;Dupont PE
本文介绍了第一个用于连续体机器人的刚度控制器。控制律基于连续介质机器人的运动学和静态力耦合模型的精确近似。为了实现所需的尖端刚度，控制器将致动器驱动到与偏转的机器人配置相对应的位置，该偏转机器人配置为测量的尖端位置产生所需的尖端力。这种方法提供了几个重要的优势。首先，它使机器人能够使用挠度传感作为感知和控制尖端力的一种手段。其次，它可以通过修改现有的连续体机器人位置控制器来实现刚度控制。该控制器以同心管道机器人为例进行了实验验证。结果表明，该刚度控制器在稳态时达到了预期的刚度，具有良好的动态性能，在接触过渡过程中表现出稳定性。
This paper introduces the first stiffness controller for continuum robots. The control law is based on an accurate approximation of a continuum robot’s coupled kinematic and static force model. To implement a desired tip stiffness, the controller drives the actuators to positions corresponding to a deflected robot configuration that produces the required tip force for the measured tip position. This approach provides several important advantages. First, it enables the use of robot deflection sensing as a means to both sense and control tip forces. Second, it enables stiffness control to be implemented by modification of existing continuum robot position controllers. The proposed controller is demonstrated experimentally in the context of a concentric tube robot. Results show that the stiffness controller achieves the desired stiffness in steady state, provides good dynamic performance, and exhibits stability during contact transitions.