Dynamic Control of Multisection Three-Dimensional Continuum Manipulators Based on Virtual Discrete-Jointed Robot Models
Dynamic Control of Multisection Three-Dimensional Continuum Manipulators Based on Virtual Discrete-Jointed Robot Models
复制标题
基于虚拟离散关节机器人模型的多节三维连续体机械臂动态控制
DOI：
10.1109/tmech.2020.2999847
复制
发表时间：
2021-04-01
影响因子：
6.4
通讯作者：
Walker, Ian D.
中科院分区：
文献类型：
--
作者：
Wang, Chengshi;Frazelle, Chase G.;Walker, Ian D.
尽管连续体机械手技术和应用的发展，基于模型的反馈闭环控制适合连续体机器人的设计仍然是一个重大的挑战。复杂的软和灵活的性质的机械手的身体，控制的连续体结构具有无限的尺寸被证明是困难的，由于其复杂的动力学。在这篇文章中，一种新的策略设计的轨迹控制的多节连续体机器人在三维空间中，以实现准确的定位，曲率和部分长度跟踪。该制剂连接的连续体机械手的动态行为的虚拟离散关节机器人的自由度直接映射到那些连续体机器人部分的假设下，常曲率。基于这种连接，计算扭矩控制架构的虚拟机器人，运动学和动力学方程的构建和利用，开发了适当的转换，实现连续体机器人。该控制算法是在一个六自由度两段OctArm连续体机械手上实现的。实验表明，该方法可以同时处理多节连续体机器人的伸展/收缩、弯曲和扭转动作，且性能良好（弧长和曲率误差分别为+/-4 mm和+/-0.35 m（-1））。与传统的比例-积分-微分控制器相比，所设计的动态控制器在两段机动过程中，曲率跟踪误差和上升时间分别减小了48.1%和94.8%。
Despite the rise of development in continuum manipulator technology and application, a model-based feedback closed-loop control appropriate for continuum robot designs has remained a significant challenge. Complicated by the soft and flexible nature of the manipulator body, control of continuum structures with infinite dimensions proves to be difficult due to their complex dynamics. In this article, a novel strategy is designed for trajectory control of a multisection continuum robot in three-dimensional space to achieve accurate orientation, curvature, and section length tracking. The formulation connects the continuum manipulator dynamic behavior to a virtual discrete-jointed robot whose degrees of freedom are directly mapped to those of a continuum robot section under the hypothesis of constant curvature. Based on this connection, a computed torque control architecture is developed for the virtual robot, for which kinematics and dynamic equations are constructed and exploited, with appropriate transformations developed for implementation on the continuum robot. The control algorithm is implemented on a six degree-of-freedom two-section OctArm continuum manipulator. Experiments show that the proposed method could manage simultaneous extension/contraction, bending, and torsion actions on multisection continuum robots with decent performance (arc length and curvature error of +/- 4 mm and +/- 0.35 m(-1)). The designed dynamic controller can reduce the curvature tracking error and rise time by up to 48.1% and 94.8% compared to the traditional proportional-integral-derivative controller during two-section maneuvers.