Center-of-Gravity-Based Approach for Modeling Dynamics of Multisection Continuum Arms
Center-of-Gravity-Based Approach for Modeling Dynamics of Multisection Continuum Arms
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DOI：
10.1109/tro.2019.2921153
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发表时间：
2019-01
影响因子：
7.8
通讯作者：
I. Godage;R. Webster;I. Walker
中科院分区：
文献类型：
--
作者：
I. Godage;R. Webster;I. Walker
多节连续臂提供了与传统刚体机器人互补的特性。受大象鼻子和章鱼手臂等生物附件的启发，这些机器人以刚性换取合规，以准确性换取安全，因此在人类占据的空间显示出强大的应用潜力。以前的工作已经证明了它们在拥挤空间中的操作和对不规则形状物体的操纵方面的优越性。然而，它们还没有在实验室空间之外得到广泛应用。一个关键原因是，由于合规，它们很难控制。复杂而高效的动态模型是实现动态控制的必要条件。在本文中，我们提出了一种新的基于重心的变长多截面连续体手臂动力学模型。该模型可以容纳具有任意数量的具有不同物理尺寸的截面的连续体机器人。该动态算法具有$\数学{O}\Left(n^{2}\Right)$复杂性，运行频率为9.5 kHz，仿真速度比三节连续体机器人的实时速度快6~8倍，因此非常适合于实时控制实现。以作者提出的积分-动力学模型和三段气动变长多段连续臂为例，对模型的精度进行了数值验证。这是第一个基于光滑连续变形模型的变长多截面连续臂的亚实时动力学模型。
Multisection continuum arms offer complementary characteristics to those of traditional rigid-bodied robots. Inspired by biological appendages, such as elephant trunks and octopus arms, these robots trade rigidity for compliance and accuracy for safety and, therefore, exhibit strong potential for applications in human-occupied spaces. Prior work has demonstrated their superiority in operation in congested spaces and manipulation of irregularly shaped objects. However, they are yet to be widely applied outside laboratory spaces. One key reason is that, due to compliance, they are difficult to control. Sophisticated and numerically efficient dynamic models are a necessity to implement dynamic control. In this paper, we propose a novel numerically stable center-of-gravity-based dynamic model for variable-length multisection continuum arms. The model can accommodate continuum robots having any number of sections with varying physical dimensions. The dynamic algorithm is of $\mathcal {O}\left(n^{2}\right)$ complexity, runs at 9.5 kHz, simulates six to eight times faster than real time for a three-section continuum robot, and, therefore, is ideally suited for real-time control implementations. The model accuracy is validated numerically against an integral-dynamic model proposed by the authors and experimentally for a three-section pneumatically actuated variable-length multisection continuum arm. This is the first sub-real-time dynamic model based on a smooth continuous deformation model for variable-length multisection continuum arms.