气动驱动软连续体机器人的简化有限元建模与闭环控制

Paul Chaillou, Jialei Shi, A. Kruszewski, Isabelle Fournier, H. Wurdemann, C. Duriez
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引用次数: 0

摘要

与传统的刚性机器人相比,软机器人的引入导致了医疗应用中固有安全和灵活的介入工具的发展。特别是,机器人辅助手术是受益于软仪器固有特性的医疗应用之一。然而,软工具的鲁棒控制和可靠操作仍然具有挑战性。本文提出了一种基于简化有限元法模型和闭环逆运动学控制的纤维增强软机器人运动学控制新方法。高度灵活,气动驱动的软机器人有三个全纤维增强腔室对。外径11.5毫米。4.5 mm的内部工作通道在微创干预期间为体内癌症成像工具提供了一个自由的腔体。在这里,机械手的设计是为了检索组织活检,然后可以调查癌组织。通过单模块和双模块机器人的仿真与实验结果对比,验证了模型和控制方法的正确性。结果表明,利用简化后的模型可以实现实时控制。结合闭环控制,中位位置跟踪误差一般小于2mm。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Reduced finite element modelling and closed-loop control of pneumatic-driven soft continuum robots
The introduction of soft robots has led to the development of inherently safe and flexible interventional tools for medical applications, when compared to their traditionally rigid counterparts. In particular, robot-assisted surgery is one of the medical applications that benefits from the inherent properties of soft instruments. However, robust control and reliable manipulation of soft tools remain challenging. In this paper, we present a new method based on reduced finite element method model and closed-loop inverse kinematics control for a fiber-reinforced soft robot. The highly flexible, pneumatically driven soft robot has three fully fiber-reinforced chamber pairs. The outer diameter is 11.5 mm. An inner working channel of 4.5 mm provides a free lumen for in-vivo cancer imaging tools during minimally invasive interventions. Here, the manipulator is designed in order to retrieve a tissue biopsy which can then be investigated for cancerous tissue. Simulation and experimental results are compared to validate the model and control methods, using one-module and two-module robots. The results show a real-time control is achievable using the reduced model. Combing the closed-loop control, the median position tracking errors are generally less than 2 mm.
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