Kinematics and Fuzzy Control of Continuum Robot Based on Semi-closed Loop System

Abstract

Accuracy improvement toward continuum robot brings huge challenge on motion controlling and path planning, especially without external sensory system, e.g. stereovision and magnetic positioning. Thus, this paper proposes an efficient method to analyze, establish and integrate the kinematic model into a fuzzy controller for acquiring precise motion performance of the continuum robot. Firstly, through the analysis of the forward and inverse kinematics of its tip, posture and driving parameters, the mutual mapping relationship between its position, posture and driving spaces is obtained. Then, according to its kinematics model, the motion control system is designed and the semi-closed loop feedback based on fuzzy control is introduced to compensate the error accumulation of the drive system. Circular trajectory motion control experiments are carried out under openloop control and semi-closed loop compensation, respectively, to explore the influence of drive error accumulation on the posture parameters and tip motion accuracy of the continuum robot, and to analyze the compensation effect of semi-closed loop feedback based on fuzzy control. The experimental results prove the effectiveness of the semi-closed loop system, and the actual trajectory error does not exceed 6.01%.