Coordinated variable impedance control for multi-segment cable-driven continuum manipulators

doi:10.1016/j.mechmachtheory.2020.103969

CORC > 自动化研究所 > 中国科学院自动化研究所 > 复杂系统管理与控制国家重点实验室 > 先进机器人控制团队

	Coordinated variable impedance control for multi-segment cable-driven continuum manipulators
	Su, Tingting 1,2; Niu, Lianzhen 2; He, Guangping 2; Liang, Xu 1,2; Zhao, Lei 2; Zhao, Quanliang 2
刊名	MECHANISM AND MACHINE THEORY
	2020-11-01
卷号	153 页码:19
关键词	Variable impedance control Coordinated control Continuum manipulators Dynamics Cable-driven
ISSN号	0094-114X
DOI	10.1016/j.mechmachtheory.2020.103969
通讯作者	He, Guangping(hegp55@ncut.edu.cn)
英文摘要	Continuum manipulators typically work in a constrained environment and rely on body compliance to conform around and interact with obstacles. The force operation capability of the continuum manipulators presents significant challenges for practical applications. In order to realize stable operations at multi-position contacts under coupling position-force constraints and improve the operational flexibility of multi-segment cable-driven continuum manipulators, coordinated variable impedance control at multiple contacting points along the continuum manipulators is proposed in this paper. By the aids of an external load estimator and a variable impedance controller in configuration space, the multi-segment cable-driven continuum manipulators based on pseudo-rigid-body modeling method can achieve coordinated variable impedance control in operation space. The stability of the external load estimator and the controller is analyzed. Numerical simulations and experiments also demonstrate the feasibility of the proposed control scheme for the multi-segment cable-driven continuum manipulators. (C) 2020 Elsevier Ltd. All rights reserved.
资助项目	National Key R&D Program of China[2019YFB1309603] ; Natural Science Foundation of China[51775002] ; Natural Science Foundation of Beijing[L172001] ; Natural Science Foundation of Beijing[4204097] ; Natural Science Foundation of Beijing[3172009] ; Natural Science Foundation of Beijing[3194047] ; Beijing Municipal Education Commission[KZ202010 009015]
WOS关键词	CONSTANT CURVATURE ; SHAPE TRACKING ; ROBOTS ; STIFFNESS ; DESIGN
WOS研究方向	Engineering
语种	英语
出版者	PERGAMON-ELSEVIER SCIENCE LTD
WOS记录号	WOS:000566907900007
资助机构	National Key R&D Program of China ; Natural Science Foundation of China ; Natural Science Foundation of Beijing ; Beijing Municipal Education Commission
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/41937]
专题	自动化研究所_复杂系统管理与控制国家重点实验室_先进机器人控制团队
通讯作者	He, Guangping
作者单位	1.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China 2.North China Univ Technol, Dept Mech & Elect Engn, Beijing 100144, Peoples R China
推荐引用方式 GB/T 7714	Su, Tingting,Niu, Lianzhen,He, Guangping,et al. Coordinated variable impedance control for multi-segment cable-driven continuum manipulators[J]. MECHANISM AND MACHINE THEORY,2020,153:19.
APA	Su, Tingting,Niu, Lianzhen,He, Guangping,Liang, Xu,Zhao, Lei,&Zhao, Quanliang.(2020).Coordinated variable impedance control for multi-segment cable-driven continuum manipulators.MECHANISM AND MACHINE THEORY,153,19.
MLA	Su, Tingting,et al."Coordinated variable impedance control for multi-segment cable-driven continuum manipulators".MECHANISM AND MACHINE THEORY 153(2020):19.