Model-based Trajectory Generation and Control of Continuum Manipulators

基于模型的连续机械臂轨迹生成和控制

• 批准号: 317742086
• 负责人: Professor Dr.-Ing. Oliver Sawodny
• 金额: --
• 依托单位: Institut für Systemdynamik (ISYS)
• 依托单位国家: 德国
• 项目类别: Research Grants
• 资助国家: 德国
• 项目状态: 未结题
• 来源: https://gepris.dfg.de/gepris/projekt/317742086?language=en
• 关键词: Model; based; Trajectory; Generation; Control

The aim of the project is the development of model-based control algorithms for redundant continuum robots. The developed methods are to be investigated using pneumatically actuated continuum manipulators as example systems. These offer a high potential in the environment of cooperation with a human being. Typically, human-machine interactions are characterized by two basic tasks: the detection of external forces and the realization of a given behavior in the case of contact. For this purpose, the existing model will first be extended and examined in greater detail. Based on this, model-based approaches for the detection of the contact case at the manipulator will be investigated: How can contact situations be reliably detected and to what extent is it possible to precisely estimate the point of application, direction, and magnitude of an applied force from the specific properties of the continuum manipulator and the given pressure and angle sensors. Due to the design of the manipulator, the stiffness of the bellows segments can be specified via the mean pressure in addition to feedback control. This mean pressure is to be taken into account in a central unified control, which serves as a preparation for the task planning.In addition to the typically considered trajectory of the tool center point, the contact with the environment and the associated force are also taken into account in the task planning. During the planning itself, the question arises how the additional degrees of freedom of the pneumatically actuated continuum manipulator can be used to primarily ensure the feasibility of the defined task and, secondarily, to implement the task itself in a state that is as advantageous as possible for the ma-nipulator, such as stiffness and maximum force that can be applied, but also system-theoretical properties, such as favorable observability with regard to the contact situation. Finally, interactive algorithms are to be developed for the task definition, which allow a human to provide the manipu-lator with a path and a force reference by haptic deformation, which can then be implemented using the developed planning algorithms.

该项目的目的是开发用于冗余连续机器人的基于模型的控制算法。将使用气动驱动的连续操作器作为示例系统研究开发的方法。这些在与人的合作环境中具有很高的潜力。通常，人机相互作用的特征是两个基本任务：外部力的检测和在接触情况下实现给定行为。为此，将首先详细研究现有模型。基于此，将研究基于模型的方法来检测操纵器处的接触情况：如何可靠地检测到接触情况，以及可以在多大程度上准确地估算出从连续性操纵器的特定特性以及给定压力和斜角传感器的特定特性和给定压力和角度传感器的施加力点，方向和幅度。由于操纵器的设计，还可以通过平均压力来指定波纹管片段的刚度除反馈控制外。将在中央统一控制中考虑到这种平均压力，该控制是为任务计划做准备的。除了通常被考虑的工具中心点的轨迹，与环境和相关力量的接触在任务计划中还考虑了。在规划本身中，问题出现了一个问题，如何使用气动驱动的连续操作器的额外自由度可以用来确保确保定义任务的可行性，其次，以对MA-NIPULATOR和最大程度上的最大力量，可以随着构图而进行的属性，例如，在属性中，该任务本身具有尽可能优势的状态。最后，将为任务定义开发交互式算法，该算法使人类可以通过触觉变形为Manipu-LaTor提供路径和力参考，然后可以使用开发的计划算法来实现。