DEFCOBOT (Design for Control of Flexible Robots)

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Flexible robots have light and compliant bodies that allow them to adapt well to unstructured environments. However, due to their deformability, controlling their movements accurately in the presence of disturbances is a challenging task. Additionally, the design and manufacturing of flexible robots is generally conducted without prior analysis of their dynamic performance and involves refinements through successive prototypes. These factors reduce the accuracy and effectiveness of flexible robots in real-world applications, including surgery, inspection and maintenance. Finally, bespoke design and control solutions confine advances in these areas to specific cases. This research aims to produce advanced control methods and design guidelines for different types of flexible robots in order to enhance their performance. To demonstrate the general validity of the proposed methods we have chosen two illustrative applications from our own track record: robot-assisted biopsy and robotic inspection. In the experimental part of the project, the control methods will be validated with two proof-of-concept prototypes from our recent work that are representative of each application. Successful completion of this research will contribute to enhancing the accuracy and effectiveness of flexible robots which is an essential prerequisite for their wider use. Potential applications of the research findings include minimally-invasive robotic surgery, robotic inspection and maintenance.