可重构生长软连续体机器人的无运动学模型尖端位置控制

Ahmad AlAttar, Ikhlas Mohamed Ben Hmida, F. Renda, Petar Kormushev
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引用次数: 0

摘要

软体机器人比刚性机器人有许多优点。这包括它们固有的遵从性、轻量级和对杂乱工作空间的高适应性。软体连续体机器人,受生物启发的蛇形机器人,是高度冗余和高度可变形的。由于其复杂的运动学和动力学模型,这些机器人的控制具有挑战性。本文提出了一种新的无运动学模型控制器,该控制器采用准静态假设来控制具有线状驱动的软连续体机器人的尖端位置,同时对其进行重力补偿。在模拟连续体软机器人上对该控制器进行了测试,以验证其在给定轨迹下引导尖端的能力。针对软机器人的路径和长度控制,提出了一种新的无运动学模型控制方法。通过致动器失效试验验证了控制器的鲁棒性。该无运动学模型控制器为静态、重构和生长的线状驱动软连续体机器人提供了一种自适应控制方法。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Kinematic-Model-Free Tip Position Control of Reconfigurable and Growing Soft Continuum Robots
Soft robots have many advantages over their rigid counterparts. These include their inherent compliance, lightweight and high adaptability to cluttered workspaces. Soft continuum robots, biologically inspired snake-like robots, are hyper-redundant and highly deformable. These robots can be challenging to control due to their complex kinematic and dynamic models. This paper presents a novel kinematic-model-free controller that uses a quasi-static assumption in order to control the tip-position of soft continuum robots with threadlike actuation while compensating for gravity simultaneously. The controller was tested on simulated continuum soft robots to demonstrate its ability to guide the tip while following a given trajectory. Novel kinematic-model-free control methods are introduced for soft robots' route and length control. The robustness of the controller is demonstrated with an actuator-failure test. The kinematic-model-free controller provides an adaptive control method for static, re-configuring, and growing soft continuum robots with threadlike actuation.
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