Model-based Trajectory Generation and Control of Continuum Manipulators

该项目的目的是冗余连续体机器人的基于模型的控制算法的发展。所开发的方法进行了研究，使用驱动连续操作器作为示例系统。这些在与人类合作的环境中提供了很高的潜力。通常，人机交互的特征在于两个基本任务：检测外力和在接触的情况下实现给定的行为。为此目的，将首先扩展和更详细地审查现有模式。在此基础上，基于模型的方法检测的接触情况下，在机械手将进行调查：如何可以可靠地检测到接触的情况，以及在何种程度上是可能的，以精确地估计点的应用，方向和施加的力的大小从特定属性的连续体机械手和给定的压力和角度传感器。由于机械手的设计，除了反馈控制之外，还可以通过平均压力来指定波纹管段的刚度。在中央统一控制中要考虑该平均压力，这是任务规划的准备工作。除了通常考虑的刀具中心点的轨迹外，任务规划中还考虑与环境的接触和相关的力。在规划本身期间，出现的问题是，如何可以使用连续体驱动的连续体机械手的附加自由度来首先确保所定义的任务的可行性，其次，在尽可能有利于机械手的状态下实现任务本身，例如可以施加的刚度和最大力，以及系统理论特性。例如关于接触情况的有利的可观察性。最后，交互式算法是要开发的任务定义，它允许一个人提供的manipulator的路径和力的参考触觉变形，然后可以使用开发的规划算法来实现。

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.