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

doi:10.1016/j.mechmachtheory.2020.103969

	Coordinated variable impedance control for multi-segment cable-driven continuum manipulators
	Su, Tingting1,2 ; Niu, Lianzhen 1; He, Guangping 1; Liang, Xu1,2 ; Zhao, Lei 1; Zhao, Quanliang 1
发表期刊	MECHANISM AND MACHINE THEORY
ISSN	0094-114X
	2020-11-01
卷号	153 页码:19
通讯作者	He, Guangping(hegp55@ncut.edu.cn)
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.
关键词	Variable impedance control Coordinated control Continuum manipulators Dynamics Cable-driven
DOI	10.1016/j.mechmachtheory.2020.103969
关键词[WOS]	CONSTANT CURVATURE ; SHAPE TRACKING ; ROBOTS ; STIFFNESS ; DESIGN
收录类别	SCI
语种	英语
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]
项目资助者	National Key R&D Program of China ; Natural Science Foundation of China ; Natural Science Foundation of Beijing ; Beijing Municipal Education Commission
WOS研究方向	Engineering
WOS类目	Engineering, Mechanical
WOS记录号	WOS:000566907900007
出版者	PERGAMON-ELSEVIER SCIENCE LTD
七大方向——子方向分类	智能控制
引用统计	被引频次：16[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/41938
专题	复杂系统认知与决策实验室_先进机器人
通讯作者	He, Guangping
作者单位	1.North China Univ Technol, Dept Mech & Elect Engn, Beijing 100144, Peoples R China 2.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China
第一作者单位	中国科学院自动化研究所
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.