CASIA OpenIR
Coordinated variable impedance control for multi-segment cable-driven continuum manipulators
Su, Tingting1,2; Niu, Lianzhen1; He, Guangping1; Liang, Xu1,2; Zhao, Lei1; Zhao, Quanliang1
Source PublicationMECHANISM AND MACHINE THEORY
ISSN0094-114X
2020-11-01
Volume153Pages:19
Corresponding AuthorHe, Guangping(hegp55@ncut.edu.cn)
AbstractContinuum 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.
KeywordVariable impedance control Coordinated control Continuum manipulators Dynamics Cable-driven
DOI10.1016/j.mechmachtheory.2020.103969
WOS KeywordCONSTANT CURVATURE ; SHAPE TRACKING ; ROBOTS ; STIFFNESS ; DESIGN
Indexed BySCI
Language英语
Funding ProjectNational 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]
Funding OrganizationNational Key R&D Program of China ; Natural Science Foundation of China ; Natural Science Foundation of Beijing ; Beijing Municipal Education Commission
WOS Research AreaEngineering
WOS SubjectEngineering, Mechanical
WOS IDWOS:000566907900007
PublisherPERGAMON-ELSEVIER SCIENCE LTD
Citation statistics
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/41938
Collection中国科学院自动化研究所
Corresponding AuthorHe, Guangping
Affiliation1.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
First Author AffilicationInstitute of Automation, Chinese Academy of Sciences
Recommended Citation
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.
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