Study on Vibration Analyze and Control of Continuum Robot

2018 ◽  
Author(s):  
Guohua Gao ◽  
Lianshi Li ◽  
Hao Wang ◽  
Yunsong Du
Keyword(s):  
Continuum Robot ◽  
And Control

Study on multi-section continuum robot wire-tension feedback control and load manipulability

2020 ◽  
Vol 47 (6) ◽  
pp. 837-845
Author(s):  
Azamat Nurlanovich Yeshmukhametov ◽  
Koichi Koganezawa ◽  
Zholdas Buribayev ◽  
Yedilkhan Amirgaliyev ◽  
Yoshio Yamamoto
Keyword(s):  
Control Method ◽  
Tension Control ◽  
Estimation Model ◽  
Content Type ◽  
Wire Tension ◽  
Payload Capacity ◽  
Continuum Robot ◽  
Continuum Manipulators ◽  
And Control ◽  
The Continuum

Purpose The purpose of this paper is to present a novel hybrid pre-tension mechanism for continuum manipulators to prevent wire slack and improve continuum robot payload capacity, as well as to present a new method to control continuum manipulators’ shape. Design/methodology/approach This research explains the hardware design of a hybrid pre-tension mechanism device and proposes a mathematic formulation wire-tension based on robot design. Also, the wire-tension control method and payload estimation model would be discussed. Findings Wire-tension is directly related to the continuum manipulators’ rigidity and accuracy. However, in the case of robot motion, wires lose their tension and such an issue leads to the inaccuracy and twist deformation. Therefore, the proposed design assists in preventing any wire slack and derailing the problem of the wires. Originality/value The novelty of this research is proposed pre-tension mechanism device design and control schematics. Proposed pre-tension mechanism designed to maintain up to eight wires simultaneously.

Shape Estimation and Control of a Soft Continuum Robot Under External Payloads

2021 ◽  
pp. 1-12
Author(s):  
Qingxiang Zhao ◽  
Jiewen Lai ◽  
Kaicheng Huang ◽  
Xiaobing Hu ◽  
Henry K. Chu
Keyword(s):  
Shape Estimation ◽  
Continuum Robot ◽  
Estimation And Control ◽  
And Control

Design and control of a tendon-driven continuum robot

2017 ◽  
Vol 40 (11) ◽  
pp. 3263-3272 ◽  
Author(s):  
Minhan Li ◽  
Rongjie Kang ◽  
Shineng Geng ◽  
Emanuele Guglielmino
Keyword(s):  
Control Method ◽  
Programming Algorithm ◽  
Redundant Actuation ◽  
External Disturbances ◽  
Continuum Robots ◽  
Helical Springs ◽  
Actuation System ◽  
Continuum Robot ◽  
And Control ◽  
The Continuum

Continuum robots are suitable for operating in unstructured environments owing to their intrinsic compliance. This paper presents a novel tendon-driven continuum robot equipped with two modules and a compliant backbone formed by helical springs. Each module is driven by four parallel arranged tendons to implement a redundant actuation system that guarantees dexterous motions of the robot. A position feedback controller for the continuum robot is then developed, and a quadratic programming algorithm is incorporated into the controller to achieve a smooth configuration of the robot. Experiments results show that the control method has good trajectory tracking performance against external disturbances.

scholarly journals Modeling and Control of Aerial Continuum Manipulation Systems: A Flying Continuum Robot Paradigm

IEEE Access ◽  
2020 ◽  
Vol 8 ◽  
pp. 176883-176894
Author(s):  
Zahra Samadikhoshkho ◽  
Shahab Ghorbani ◽  
Farrokh Janabi-Sharifi
Keyword(s):  
Modeling And Control ◽  
Continuum Robot ◽  
And Control

scholarly journals A Continuum Robot and Control Interface for Surgical Assist in Fetoscopic Interventions

2017 ◽  
Vol 2 (3) ◽  
pp. 1656-1663 ◽  
Author(s):  
George Dwyer ◽  
Francois Chadebecq ◽  
Marcel Tella Amo ◽  
Christos Bergeles ◽  
Efthymios Maneas ◽  
...  
Keyword(s):  
Control Interface ◽  
Continuum Robot ◽  
And Control

Dynamic Modeling for a Continuum Robot With Compliant Structure

2015 ◽  
Author(s):  
Yong Guo ◽  
Rongjie Kang ◽  
Lisha Chen ◽  
Jian Dai
Keyword(s):  
Continuum Robots ◽  
Modeling And Control ◽  
3 Dimensional ◽  
Compliant Structure ◽  
Continuum Robot ◽  
Mass Damper ◽  
Spring System ◽  
External Forces ◽  
And Control ◽  
Good Agreement

Continuum robots have attracted increasing focus in recent years due to their intrinsic compliance and safety. However, the modeling and control of such robots are complex in comparison with conventional rigid ones. This paper presents the design of a pneumatically actuated continuum robot. A 3-dimensional dynamic model is then developed by using the mass-damper-spring system based networks, in which elastic deformation, actuating forces and external forces are taken into account. The model is validated by experiments and shows good agreement with the robotic prototype.

scholarly journals Coupled Dynamic Modeling and Control of Aerial Continuum Manipulation Systems

2021 ◽  
Vol 11 (19) ◽  
pp. 9108
Author(s):  
Zahra Samadikhoshkho ◽  
Shahab Ghorbani ◽  
Farrokh Janabi-Sharifi
Keyword(s):  
Dynamic Modeling ◽  
Sliding Mode ◽  
Control Technique ◽  
Adaptive Sliding Mode Control ◽  
Modeling And Control ◽  
Practical Applications ◽  
Lagrange Formulation ◽  
Continuum Robot ◽  
Aerial Vehicle ◽  
And Control

Aerial continuum manipulation systems (ACMSs) were newly introduced by integrating a continuum robot (CR) into an aerial vehicle to address a few issues of conventional aerial manipulation systems such as safety, dexterity, flexibility and compatibility with objects. Despite the earlier work on decoupled dynamic modeling of ACMSs, their coupled dynamic modeling still remains intact. Nonlinearity and complexity of CR modeling make it difficult to design a coupled ACMS model suitable for practical applications. This paper presents a coupled dynamic modeling for ACMSs based on the Euler–Lagrange formulation to deal with CR and the aerial vehicle as a unified system. For this purpose, a general vertical take-off and landing vehicle equipped with a tendon-driven continuum arm is considered to increase the dexterity and compliance of interactions with the environment. The presented model is independent of the motor’s configuration and tilt angles and can be applied to model any under/fully actuated ACMS. The modeling approach is complemented with a Lyapunov-wise stable adaptive sliding mode control technique to demonstrate the validity of the proposed method for such a complex system. Simulation results in free flight motion scenarios are reported to verify the effectiveness of the proposed modeling and control techniques.

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