Coordinated variable impedance control for multi-segment cable-driven continuum manipulators
文献类型：期刊论文
| 作者 | Su, Tingting1,2 ; Niu, Lianzhen2; He, Guangping2; Liang, Xu1,2; Zhao, Lei2; Zhao, Quanliang2
|
| 刊名 | MECHANISM AND MACHINE THEORY
 |
| 出版日期 | 2020-11-01 |
| 卷号 | 153页码:19 |
| 关键词 | Variable impedance control Coordinated control Continuum manipulators Dynamics Cable-driven |
| ISSN号 | 0094-114X |
| DOI | 10.1016/j.mechmachtheory.2020.103969 |
| 通讯作者 | He, Guangping(hegp55@ncut.edu.cn) |
| 英文摘要 | Continuum 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. |
| WOS关键词 | CONSTANT CURVATURE ; SHAPE TRACKING ; ROBOTS ; STIFFNESS ; DESIGN |
| 资助项目 | National 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] |
| WOS研究方向 | Engineering |
| 语种 | 英语 |
| WOS记录号 | WOS:000566907900007 |
| 出版者 | PERGAMON-ELSEVIER SCIENCE LTD |
| 资助机构 | National Key R&D Program of China ; Natural Science Foundation of China ; Natural Science Foundation of Beijing ; Beijing Municipal Education Commission |
| 源URL | [http://ir.ia.ac.cn/handle/173211/41937]  |
| 专题 | 自动化研究所_复杂系统管理与控制国家重点实验室_先进机器人控制团队 |
| 通讯作者 | He, Guangping |
| 作者单位 | 1.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China 2.North China Univ Technol, Dept Mech & Elect Engn, Beijing 100144, Peoples R China |
| 推荐引用方式 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. |
入库方式： OAI收割
来源：自动化研究所
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