Design and control of a tendon-driven continuum robot
2017 ◽
Vol 40
(11)
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pp. 3263-3272
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Keyword(s):
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.
2020 ◽
Vol 47
(6)
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pp. 837-845
Keyword(s):
2021 ◽
Vol ahead-of-print
(ahead-of-print)
◽
Keyword(s):
2013 ◽
Vol 303-306
◽
pp. 1695-1701
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Keyword(s):
2021 ◽
2010 ◽
Vol 118-120
◽
pp. 640-644
Keyword(s):