Design and Validation of a Novel Fuzzy-Logic-Based Static Feedback Controller for Tendon-Driven Continuum Robots
Design and Validation of a Novel Fuzzy-Logic-Based Static Feedback Controller for Tendon-Driven Continuum Robots
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DOI：
10.1109/tmech.2021.3050263
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发表时间：
2021-12-01
影响因子：
6.4
通讯作者：
Norton, Andy
中科院分区：
文献类型：
--
作者：
Ba, Weiming;Dong, Xin;Norton, Andy
连续体机器人在超冗余度和柔性方面优于传统的刚性连杆机器人。它们为进入受限环境提供了通用和有效的解决方案，例如，航空发动机和工业船舶。本文介绍了一种用于航空发动机燃烧室现场维修的细长筋驱动CR（长径比：715/12.7 mm）。讨论了基于模型的运动控制器在具体设计中存在的两个问题，即分段常曲率（PCC）假设不匹配和截面耦合问题。然后，拔河的启发，一种新的局部无模型控制器，利用模糊逻辑算法提出了一个单一的部分的反馈控制。这实现了直接从任务空间到驱动空间的控制策略，避免了由于显式调用弧参数而导致的PCC假设的模型失配。在单节肌腱驱动CR上的实验结果表明，与基于PCC的方法相比，该控制器具有较好的稳定性和通用性，整体定位精度达到± 1 mm，X、Y方向上75%的测试点定位精度达到± 0. 5 mm。此外，在一个长机器人的两个远端部分上的一组轨迹表明，该控制器还可以有效地最小化部分耦合问题。
Continuum robots (CRs) outperform the conventional rigid-link manipulators in aspects of hyper-redundant and compliant features. They provide universal and efficient solutions to access to constrained environments, e.g., aero engines and industrial vessels. In this article, a slender tendon-driven CR (length/diameter: 715/12.7 mm) is introduced for in situ maintenance of aero engine combustors. Two control challenges, the piecewise-constant-curvature (PCC) assumption mismatch and sections coupling issues, are discussed to explain the defect of model-based kinematic controllers on specific designs. Then, inspired by the tug of war, a novel local model-less controller utilizing a fuzzy logic algorithm is proposed for the feedback control of a single section. This implements the control policies directly from the task space to the actuation space, avoiding the model mismatch of the PCC assumption owing to the explicit call of arc parameters. Experiments on a single section of the tendon-driven CR, in comparison with PCC-based method, validate the stability and universality of the developed controller, which can reach +/- 1-mm overall positioning accuracy and +/- 0.5-mm positional accuracy for 75% of the test points in both X and Y directions. Further, a set of trails on two distal sections of a long robot demonstrate that the controller can also effectively minimize the section coupling issue.