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Transmission characteristics analysis and compensation control of double tendonsheath driven manipulator
Wu HT(吴浩廷)1,2,4; Yin M(尹猛)1,2,3; Xu ZG(徐志刚)1,2; Zhao ZL( 赵志亮)1,2,4; Han W(韩伟)1,2,4
Department智能产线与系统研究室
Source PublicationSensors (Switzerland)
ISSN1424-8220
2020
Volume20Issue:5Pages:1-17
Indexed ByEI
EI Accession number20201008251619
Contribution Rank1
Keywordtendon-sheath drive robot compensation control trajectory tracking
Abstract

The double tendonsheath drive system is widely used in the design of surgical robots and search and rescue robots because of its simplicity, dexterity, and longdistance transmission. We are attempting to apply it to manipulators, wherenonlinear characteristics such as gaps, hysteresis, etc., due to friction between the contact surfaces of the tendon sheath and the flexibility of the rope, are the main difficulties in controlling such manipulators. Most of the existing compensation control methods applicable to double tendonsheath actuators are offline compensation methods that do not require output feedback, but when the system’s motion and configuration changes, it cannot adapt to the drastic changes in the transmission characteristics. Depending on the transmission system, the robotic arm, changes at any time during the working process, and the force sensors and torque sensors that cannot be applied to the joints of the robot, so a realtime position compensation control method based on flexible cable deformation is proposed. A double tendonsheath transmission model is established, a double tendonsheath torque transmission model under any load condition is derived, and a semiphysical simulation experimental platform composed of a motor, a double tendonsheath transmission system and a single articulated arm is established to verify the transfer model. Through the signal feedback of the end encoder, a realtime closedloop feedback system was established, thus that the system can still achieve the output to follow the desired torque trajectory under the external interference.

Language英语
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/26442
Collection智能产线与系统研究室
Corresponding AuthorWu HT(吴浩廷); Yin M(尹猛)
Affiliation1.Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
2.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110169, China
3.University of Chinese Academy of Sciences, Beijing 100049, China
4.School of Mechanical Engineering and Automation, Northeastern University, Shenyang 110169, China
Recommended Citation
GB/T 7714
Wu HT,Yin M,Xu ZG,et al. Transmission characteristics analysis and compensation control of double tendonsheath driven manipulator[J]. Sensors (Switzerland),2020,20(5):1-17.
APA Wu HT,Yin M,Xu ZG,Zhao ZL,&Han W.(2020).Transmission characteristics analysis and compensation control of double tendonsheath driven manipulator.Sensors (Switzerland),20(5),1-17.
MLA Wu HT,et al."Transmission characteristics analysis and compensation control of double tendonsheath driven manipulator".Sensors (Switzerland) 20.5(2020):1-17.
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