A Discrete-Jointed Robot Model Based Control Strategy for Spatial Continuum Manipulators
A Discrete-Jointed Robot Model Based Control Strategy for Spatial Continuum Manipulators
复制标题
DOI：
10.1109/iecon43393.2020.9255340
复制
发表时间：
2020-10
期刊：
影响因子：
--
通讯作者：
Chengshi Wang;Chase G. Frazelle;J. Wagner;I. Walker
中科院分区：
文献类型：
--
作者：
Chengshi Wang;Chase G. Frazelle;J. Wagner;I. Walker
针对多节段连续体机器人在三维空间中的轨迹控制问题，设计了一种新的轨迹控制策略，以实现精确的定位、曲率和节长跟踪。该公式将连续体机械手的动态行为与虚拟离散关节机器人联系起来，虚拟离散关节机器人的自由度直接映射到连续体机器人部分的自由度。在此基础上，建立了虚拟机器人的计算力矩控制体系结构，建立了其逆运动学和动力学方程，并对其进行了适当的变换，以便于在连续体机器人上实现。该控制算法在六自由度两节段八臂连续体机械手上实现。实验结果表明，该方法能够同时处理多节段连续体机器人的伸缩、弯曲和扭转动作，跟踪性能较好(稳态弧长和曲率跟踪误差分别仅为3.3 mm和0.13m-1)。这些结果表明，所提出的方法可以应用于多节段连续体机械手，并在非线性环境下进行复杂的机动。
In this paper, a novel strategy is designed for trajectory control of a multi-section 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. Based on this connection, a computed torque control architecture is developed for the virtual robot, for which inverse 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. Experimental results show that the proposed method managed simultaneous extension/contraction, bending, and torsion actions on multi-section continuum robots with decent tracking performance (steady state arc length and curvature tracking error of merely 3.3mm and 0.13m-1, respectively). These results demonstrate that the proposed method can be applied to multi-section continuum manipulators and perform complex maneuvers within a nonlinear setting.