A Nonlinear Control Strategy for Extensible Continuum Robots

被引：0

作者：

Frazelle, Chase G. ^{[1
]}

Kapadia, Apoorva D. ^{[1
]}

Walker, Ian. D. ^{[1
]}

机构：

[1] Clemson Univ, Dept Elect & Comp Engn, Clemson, SC 29634 USA

来源：

2018 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA) | 2018年

基金：

美国国家科学基金会;

关键词：

HYPER-REDUNDANT; KINEMATICS; DESIGN; MANIPULATOR; DYNAMICS; FORCE; MODEL;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper, we describe a novel nonlinear control strategy for the closed-loop control of extensible continuum robots. Previous attempts at controlling continuum robots have proved difficult due to the complexity of their system dynamics. Taking advantage of a previously developed dynamic model for a three-section, planar, continuum manipulator, we develop an adaptation-based control law. We present simulation results of a set-point tracking between a rigid-link control device and an extensible continuum manipulator. Experimental results of the controller implemented on a six degree-of-freedom continuum robot are also presented.

引用

页码：7727 / 7734

页数：8

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