Hysteresis Compensation of Tendon-Sheath Mechanism Using Nonlinear Programming Based on Preisach Model

被引：0

作者：

Kim, Hongmin ^{[1
]}

Kim, Dongchan ^{[2
]}

Park, Su Hyeon ^{[3
]}

Jin, Sangrok ^{[3
]}

机构：

[1] Massachusetts Inst Technol MIT, Dept Mech Engn, Cambridge, MA 02139 USA

[2] Korea Adv Inst Sci & Technol KAIST, Dept Mech Engn, Daejeon 34141, South Korea

[3] Pusan Natl Univ, Dept Mech Engn, Busan 43241, South Korea

来源：

IEEE ROBOTICS AND AUTOMATION LETTERS | 2024年 / 9卷 / 06期

基金：

新加坡国家研究基金会;

关键词：

Flexible endoscopic systems; hysteresis compensa- tion; nonlinear programming; Preisach hysteresis model; tendon sheath mechanism; DRIVEN;

D O I：

10.1109/LRA.2024.3390539

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

Tendon sheath mechanism (TSM) is an essential mechanical element for the implementation of flexible endoscopic systems owing to its small volume and simple structure. However, nonlinear characteristics, such as backlash, hysteresis and friction occur when employing such a component. In this study, we formulate a Preisach hysteresis model consisting of elementary hysteresis operators. Subsequently, we propose a compensation algorithm that repeatedly and sequentially solves a nonlinear optimization problem online, producing an inverse control signal for the desired output at every time step, compensating the nonlinear effects of TSM. The results indicate that the presented model and control scheme are promising for motion control in any application utilizing TSM.

引用

页码：5246 / 5253

页数：8