Closed-Loop Trajectory Tracking Control of a Cable-Driven Continuum Robot With Integrated Draw Tower Grating Sensor Feedback

被引：8

作者：

Cao, Yongfeng ^{[1
]}

Feng, Fan ^{[2
]}

Liu, Zefeng ^{[1
]}

Xie, Le ^{[1
,3
]}

机构：

[1] Shanghai Jiao Tong Univ, Sch Mat Sci & Engn, Shanghai 200240, Peoples R China

[2] Shanghai Jiao Tong Univ, Inst Forming Technol & Equipment, Shanghai 200030, Peoples R China

[3] Shanghai Jiao Tong Univ, Inst Med Robot, Shanghai 200240, Peoples R China

来源：

JOURNAL OF MECHANISMS AND ROBOTICS-TRANSACTIONS OF THE ASME | 2022年 / 14卷 / 06期

基金：

中国国家自然科学基金;

关键词：

continuum robot; draw tower grating; shape sensing; closed-loop trajectory tracking control; INVERSE KINEMATICS; SHAPE TRACKING; MANIPULATOR; DESIGN;

D O I：

10.1115/1.4054997

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

Due to the inherent deformability of continuum robots (CRs), closed-loop control strategies of CRs come with some challenges, including sensor integration within a limited dimension and uncertainties with the CR system. In this paper, to obtain the spatial shape information and tip position of a cable-driven CR, a draw tower grating (DTG) sensor is integrated. A shape sensing algorithm is proposed to reconstruct the shape of the CR based on the relation between the DTG sensor and the CR centerline. Then, with the feedback information of the DTG sensor, a damped least-squares (DLS)-based closed-loop controller is implemented to improve the trajectory tracking performance of the CR. To verify the effectiveness of the proposed scheme, comparative experiments are performed.

引用

页数：9

共 24 条

[1] Improved FBG-Based Shape Sensing Methods for Vascular Catheterization Treatment [J].

Al-Ahmad, Omar ;

Ourak, Mouloud ;

Van Roosbroeck, Jan ;

Vlekken, Johan ;

Vander Poorten, Emmanuel .

IEEE ROBOTICS AND AUTOMATION LETTERS, 2020, 5 (03) :4687-4694

[2]

Buss S. R., 2005, Journal of Graphics Tools, V10, P37

[3]

Carroll D., 2013, J MATH RES, V5, P97, DOI [10.5539/jmr.v5n4p97, DOI 10.5539/JMR.V5N4P97]

[4] Closed-Loop Inverse Kinematics for Redundant Robots: Comparative Assessment and Two Enhancements [J].

Colome, Adria ;

Torras, Carme .

IEEE-ASME TRANSACTIONS ON MECHATRONICS, 2015, 20 (02) :944-955

[5] Electromagnetic Tracking in Medicine-A Review of Technology, Validation, and Applications [J].

Franz, Alfred M. ;

Haidegger, Tamas ;

Birkfellner, Wolfgang ;

Cleary, Kevin ;

Peters, Terry M. ;

Maier-Hein, Lena .

IEEE TRANSACTIONS ON MEDICAL IMAGING, 2014, 33 (08) :1702-1725

[6] Kinematics and the implementation of an elephant's trunk manipulator and other continuum style robots [J].

Hannan, MW ;

Walker, ID .

JOURNAL OF ROBOTIC SYSTEMS, 2003, 20 (02) :45-63

[7] Multi-Core Optical Fibers With Bragg Gratings as Shape Sensor for Flexible Medical Instruments [J].

Khan, Fouzia ;

Denasi, Alper ;

Barrera, David ;

Madrigal, javier ;

Sales, Salvador ;

Misra, Sarthak .

IEEE SENSORS JOURNAL, 2019, 19 (14) :5878-5884

[8] Design and control of a tendon-driven continuum robot [J].

Li, Minhan ;

Kang, Rongjie ;

Geng, Shineng ;

Guglielmino, Emanuele .

TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND CONTROL, 2018, 40 (11) :3263-3272

[9] Model-Free Control for Continuum Robots Based on an Adaptive Kalman Filter [J].

Li, Minhan ;

Kang, Rongjie ;

Branson, David T., III ;

Dai, Jian S. .

IEEE-ASME TRANSACTIONS ON MECHATRONICS, 2018, 23 (01) :286-297

[10] Current Trends and Prospects in Compliant Continuum Robots: A Survey [J].

Li, Shiyao ;

Hao, Guangbo .

ACTUATORS, 2021, 10 (07)

← 1 2 3 →