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A Model-Based Method for Predicting the Shapes of Planar Single-Segment Continuum Manipulators With Consideration of Friction and External Force
Li JH(李建华)1,2,3; Zhou YY(周圆圆)1,2; Wang CY(王重阳)1,2; Wang ZD(王志东)4; Liu H(刘浩)1,2
Department机器人学研究室
Source PublicationJOURNAL OF MECHANISMS AND ROBOTICS-TRANSACTIONS OF THE ASME
ISSN1942-4302
2020
Volume12Issue:4Pages:1-11
Indexed BySCI
WOS IDWOS:000556700200005
Contribution Rank1
Funding OrganizationNational Key R&D Program of China [2017YFC0110902] ; National Natural Science Foundation of ChinaNational Natural Science Foundation of China (NSFC) [61873257] ; State Key Laboratory of Robotics Selfplan Project [2019000534]
Keywordtendon-driven continuum manipulator shape prediction model-based external force friction hysteresis cable-driven mechanisms medical robotics
Abstract

The shape prediction of tendon-driven continuum manipulators is a challenging problem due to the effect of inner friction and external force. Many researchers use actuation displacement or actuation force as model input to predict the shapes of manipulators, but very few consider their relations and models able to predict the status of friction. This paper proposes a model-based method that combines the mechanics model with the kinematic model to predict the shapes of planar single-segment manipulators with consideration of external force and friction. Finally, the shape prediction of manipulators is converted to an optimization problem with actuation displacement and actuation force as the inputs of our algorithm. The distribution of tendon force and the situation of friction can be calculated by using the feedback data of the actuation unit even when actuation direction changes and hysteresis occurs. Experimental results indicate that the method has good performance in predicting the manipulator's shapes.

Language英语
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Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/27485
Collection机器人学研究室
Corresponding AuthorLiu H(刘浩)
Affiliation1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences
2.Key Laboratory of Minimally Invasive Surgical Robot, Liaoning Province
3.University of Chinese Academy of Science
4.Department of Advanced Robotics, Chiba Institute of Technology, 2-17-1 Tsudanuma, Narashino, Chiba 275-0016, Japan
Recommended Citation
GB/T 7714
Li JH,Zhou YY,Wang CY,et al. A Model-Based Method for Predicting the Shapes of Planar Single-Segment Continuum Manipulators With Consideration of Friction and External Force[J]. JOURNAL OF MECHANISMS AND ROBOTICS-TRANSACTIONS OF THE ASME,2020,12(4):1-11.
APA Li JH,Zhou YY,Wang CY,Wang ZD,&Liu H.(2020).A Model-Based Method for Predicting the Shapes of Planar Single-Segment Continuum Manipulators With Consideration of Friction and External Force.JOURNAL OF MECHANISMS AND ROBOTICS-TRANSACTIONS OF THE ASME,12(4),1-11.
MLA Li JH,et al."A Model-Based Method for Predicting the Shapes of Planar Single-Segment Continuum Manipulators With Consideration of Friction and External Force".JOURNAL OF MECHANISMS AND ROBOTICS-TRANSACTIONS OF THE ASME 12.4(2020):1-11.
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