Closed-loop control of soft continuum manipulators under tip follower actuation

控制理论(社会学) 运动学 执行机构 软机器人 机器人学 控制工程 机器人 计算机科学 工程类 人工智能 控制(管理) 物理 经典力学
作者
Federico Campisano,Simone Calò,Andria A. Remirez,James H. Chandler,Keith L. Obstein,Robert J. Webster,Pietro Valdastri
出处
期刊:The International Journal of Robotics Research [SAGE Publishing]
卷期号:40 (6-7): 923-938 被引量:35
标识
DOI:10.1177/0278364921997167
摘要

Continuum manipulators, inspired by nature, have drawn significant interest within the robotics community. They can facilitate motion within complex environments where traditional rigid robots may be ineffective, while maintaining a reasonable degree of precision. Soft continuum manipulators have emerged as a growing subfield of continuum robotics, with promise for applications requiring high compliance, including certain medical procedures. This has driven demand for new control schemes designed to precisely control these highly flexible manipulators, whose kinematics may be sensitive to external loads, such as gravity. This article presents one such approach, utilizing a rapidly computed kinematic model based on Cosserat rod theory, coupled with sensor feedback to facilitate closed-loop control, for a soft continuum manipulator under tip follower actuation and external loading. This approach is suited to soft manipulators undergoing quasi-static deployment, where actuators apply a follower wrench (i.e., one that is in a constant body frame direction regardless of robot configuration) anywhere along the continuum structure, as can be done in water-jet propulsion. In this article we apply the framework specifically to a tip actuated soft continuum manipulator. The proposed control scheme employs both actuator feedback and pose feedback. The actuator feedback is utilized to both regulate the follower load and to compensate for non-linearities of the actuation system that can introduce kinematic model error. Pose feedback is required to maintain accurate path following. Experimental results demonstrate successful path following with the closed-loop control scheme, with significant performance improvements gained through the use of sensor feedback when compared with the open-loop case.
最长约 10秒,即可获得该文献文件

科研通智能强力驱动
Strongly Powered by AbleSci AI
更新
PDF的下载单位、IP信息已删除 (2025-6-4)

科研通是完全免费的文献互助平台,具备全网最快的应助速度,最高的求助完成率。 对每一个文献求助,科研通都将尽心尽力,给求助人一个满意的交代。
实时播报
Xin完成签到,获得积分10
5秒前
Aurora.H完成签到,获得积分10
8秒前
8秒前
FashionBoy应助科研通管家采纳,获得10
9秒前
打打应助科研通管家采纳,获得10
9秒前
Jasper应助科研通管家采纳,获得10
9秒前
Ava应助科研通管家采纳,获得10
9秒前
顾矜应助科研通管家采纳,获得10
9秒前
上官若男应助科研通管家采纳,获得10
9秒前
duckspy发布了新的文献求助10
11秒前
11秒前
11秒前
xiaowan完成签到,获得积分10
12秒前
Terry完成签到,获得积分10
13秒前
张张张哈哈哈完成签到,获得积分10
13秒前
Research完成签到 ,获得积分10
13秒前
称心采枫完成签到 ,获得积分0
14秒前
14秒前
新新新新新发顶刊完成签到 ,获得积分10
15秒前
L3完成签到,获得积分10
16秒前
我是科研小能手完成签到,获得积分10
16秒前
风中的小丸子完成签到,获得积分10
17秒前
17秒前
时尚俊驰发布了新的文献求助10
18秒前
18秒前
18秒前
Grin完成签到,获得积分10
19秒前
周周完成签到,获得积分20
19秒前
20秒前
liufan完成签到 ,获得积分10
22秒前
guitarist完成签到 ,获得积分10
22秒前
饮汽水完成签到,获得积分10
22秒前
22秒前
yoyo20012623完成签到,获得积分10
23秒前
伦语发布了新的文献求助10
23秒前
韵苑完成签到,获得积分10
25秒前
烟花应助人生如梦采纳,获得10
25秒前
饮汽水发布了新的文献求助10
26秒前
先一完成签到 ,获得积分10
26秒前
27秒前
高分求助中
【提示信息,请勿应助】关于scihub 10000
Les Mantodea de Guyane: Insecta, Polyneoptera [The Mantids of French Guiana] 3000
徐淮辽南地区新元古代叠层石及生物地层 3000
The Mother of All Tableaux: Order, Equivalence, and Geometry in the Large-scale Structure of Optimality Theory 3000
Handbook of Industrial Diamonds.Vol2 1100
Global Eyelash Assessment scale (GEA) 1000
Picture Books with Same-sex Parented Families: Unintentional Censorship 550
热门求助领域 (近24小时)
化学 材料科学 医学 生物 工程类 有机化学 生物化学 物理 内科学 纳米技术 计算机科学 化学工程 复合材料 遗传学 基因 物理化学 催化作用 冶金 细胞生物学 免疫学
热门帖子
关注 科研通微信公众号,转发送积分 4038201
求助须知:如何正确求助?哪些是违规求助? 3575940
关于积分的说明 11373987
捐赠科研通 3305747
什么是DOI,文献DOI怎么找? 1819274
邀请新用户注册赠送积分活动 892662
科研通“疑难数据库(出版商)”最低求助积分说明 815022