Controller Design for a Soft Continuum Robot With Concurrent Continuous Rotation
Qiangxiang, Zhao1,2; Shuai, Wang1; Jian, Hu2,3; Hongbin, Liu2,3; Henry, Chu1
Source PublicationIEEE/ASME Transactions on Mechatronics
ISSN1083-4435
2024
Pages1-10
Corresponding AuthorChu, Henry K.(henry.chu@polyu.edu.hk)
Abstract

Soft continuum robot arms (CRAs) are potential in narrow confined spaces owing to the high dexterity and compliance, while torsional motion is also anticipated in some scenarios in addition to omnidirectional bending. Most existing designs generate torsional motion either relying on an independent flexible shaft or with only a limited rotation range. This article presented a control scheme for a fully self-rotatable CRA, enabling concurrent rotation along the deformable backbone while positioning the end effector. Shape configuration acts as a bridge between actuation inputs and tip pose, where the bending and rotation motions are decoupled in kinematics. With an optimization-based algorithm and Jacobian-based online correction approach, the position of the tip could be well controlled and could cope with external disturbances. Both simulation and experiments demonstrate the effectiveness of the proposed model. Results indicate that the control scheme is applicable for conventional continuum robot designs and could also perform in-situ rotation, and the motion accuracy reached around 6mm for the 120mm length manipulator. A biopsy sampling experiment also demonstrates its potential in medical applications.

KeywordRobots Bending Shape Shafts Pneumatic systems Electron tubes Task analysis Concurrent self-rotation and positioning constrained optimization continuum robot Jacobian-based correction model predictive control (MPC)
DOI10.1109/TMECH.2024.3378274
WOS KeywordSYSTEM ; MANIPULATOR ; SURGERY ; DRIVEN
Indexed BySCI
Language英语
Funding ProjectResearch Grant Council of the Hong Kong Special Administrative Region
Funding OrganizationResearch Grant Council of the Hong Kong Special Administrative Region
WOS Research AreaAutomation & Control Systems ; Engineering
WOS SubjectAutomation & Control Systems ; Engineering, Manufacturing ; Engineering, Electrical & Electronic ; Engineering, Mechanical
WOS IDWOS:001201888800001
PublisherIEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
IS Representative Paper
Sub direction classification智能机器人
planning direction of the national heavy laboratory其他
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Citation statistics
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/57355
Collection多模态人工智能系统全国重点实验室_智能微创医疗技术团队
Corresponding AuthorHenry, Chu
Affiliation1.Department of Mechanical Engineering, Hong Kong Polytechnic University, Hong Kong, SAR, China
2.Centre for Artificial Intelligence and Robotics (CAIR) Hong Kong Institute of Science and Innovation, Chinese Academy of Sciences
3.Institute of Automation, Chinese Academy of Sciences, Beijing, China
Recommended Citation
GB/T 7714
Qiangxiang, Zhao,Shuai, Wang,Jian, Hu,et al. Controller Design for a Soft Continuum Robot With Concurrent Continuous Rotation[J]. IEEE/ASME Transactions on Mechatronics,2024:1-10.
APA Qiangxiang, Zhao,Shuai, Wang,Jian, Hu,Hongbin, Liu,&Henry, Chu.(2024).Controller Design for a Soft Continuum Robot With Concurrent Continuous Rotation.IEEE/ASME Transactions on Mechatronics,1-10.
MLA Qiangxiang, Zhao,et al."Controller Design for a Soft Continuum Robot With Concurrent Continuous Rotation".IEEE/ASME Transactions on Mechatronics (2024):1-10.
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