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Variable-gain control for continuum robots based on velocity sensitivity
Zhang, Xu; Liu, Yue; Branson, David T.; Yang CH(杨铖浩); Dai JS(戴建生); Kang RJ(康荣杰)
Department其他
Source PublicationMechanism and Machine Theory
ISSN0094-114X
2022
Volume168Pages:1-17
Indexed BySCI ; EI
EI Accession number20214511116676
WOS IDWOS:000718165300002
Contribution Rank1
Funding OrganizationNatural Science Foundation of China (Grant No. 51875393) ; National Key R&D Program of China (Grant No. 2018YFB1304600 and 2019YFB1309800) ; Tianjin Key Program of Science and Technology (Grant No. 19YFZCCG00410) ; State Key Laboratory of Robotics Foundation-China (Grant No. 2019-O04)
KeywordContinuum robot Kinematic model Variable gain control Velocity sensitivity
Abstract

Kinematic control for continuum robots usually involves an inverse model to provide actuator positions according to the desired end-tip position, as well as a servo controller at the actuator level. The resulting control performance of a continuum robot is then related to its kinematic characteristics that vary at different configurations. In this paper, a kinematic model for a typical rod-driven continuum robot is presented. Following this, a kinematic parameter, velocity sensitivity, is proposed to evaluate the kinematic characteristics of the continuum robot, indicating the contribution of the individual actuators to the instant movement of the end-tip when tracking a given path. Next, a variable gain control strategy is presented to tune the servo controller with respect to the varying velocity sensitivity along the path, reducing the fluctuation of the tracking errors in real time. The simulated and experimental results show that the presented methods can effectively smooth the movement of the continuum robot over its workspace by considering the coordination between the kinematic and servo controllers.

Language英语
WOS SubjectEngineering, Mechanical
WOS Research AreaEngineering
Funding ProjectNatural Science Foundation of China[51875393] ; National Key R&D Program of China[2018YFB1304600] ; National Key R&D Program of China[2019YFB1309800] ; Tianjin Key Program of Science and Technology[19YFZCCG00410] ; State Key Laboratory of Robotics Foundation-China[2019-O04]
Citation statistics
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/29879
Collection其他
Corresponding AuthorKang RJ(康荣杰)
Affiliation1.Key Laboratory of Mechanism Theory and Equipment Design of the Ministry of Education, Centre for Advanced Mechanisms and Robotics, Tianjin University, China
2.Faculty of Engineering, University of NottinghamUK, United Kingdom
3.Centre for Robotics Research, King's College LondonUK, United Kingdom
4.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, China
Recommended Citation
GB/T 7714
Zhang, Xu,Liu, Yue,Branson, David T.,et al. Variable-gain control for continuum robots based on velocity sensitivity[J]. Mechanism and Machine Theory,2022,168:1-17.
APA Zhang, Xu,Liu, Yue,Branson, David T.,Yang CH,Dai JS,&Kang RJ.(2022).Variable-gain control for continuum robots based on velocity sensitivity.Mechanism and Machine Theory,168,1-17.
MLA Zhang, Xu,et al."Variable-gain control for continuum robots based on velocity sensitivity".Mechanism and Machine Theory 168(2022):1-17.
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