Transmission characteristics analysis and compensation control of double tendonsheath driven manipulator
文献类型:期刊论文
作者 | Wu HT(吴浩廷)2,3,4; Yin M(尹猛)1,2,4; Xu ZG(徐志刚)2,4![]() |
刊名 | SENSORS
![]() |
出版日期 | 2020 |
卷号 | 20期号:5页码:1-17 |
关键词 | tendon-sheath drive robot compensation control trajectory tracking |
ISSN号 | 1424-8220 |
产权排序 | 1 |
英文摘要 | The double tendonsheath drive system is widely used in the design of surgical robots and search and rescue robots because of its simplicity, dexterity, and longdistance transmission. We are attempting to apply it to manipulators, wherenonlinear characteristics such as gaps, hysteresis, etc., due to friction between the contact surfaces of the tendon sheath and the flexibility of the rope, are the main difficulties in controlling such manipulators. Most of the existing compensation control methods applicable to double tendonsheath actuators are offline compensation methods that do not require output feedback, but when the system’s motion and configuration changes, it cannot adapt to the drastic changes in the transmission characteristics. Depending on the transmission system, the robotic arm, changes at any time during the working process, and the force sensors and torque sensors that cannot be applied to the joints of the robot, so a realtime position compensation control method based on flexible cable deformation is proposed. A double tendonsheath transmission model is established, a double tendonsheath torque transmission model under any load condition is derived, and a semiphysical simulation experimental platform composed of a motor, a double tendonsheath transmission system and a single articulated arm is established to verify the transfer model. Through the signal feedback of the end encoder, a realtime closedloop feedback system was established, thus that the system can still achieve the output to follow the desired torque trajectory under the external interference. |
WOS关键词 | CABLE-CONDUIT MECHANISMS ; DISTAL-END ; TRACKING PERFORMANCES ; POSITION CONTROL ; TORQUE CONTROL ; FORCE ; MODEL |
资助项目 | Intelligent Production Line and System Apartment, Shenyang Institute of Automation, Chinese Academy of Sciences |
WOS研究方向 | Chemistry ; Engineering ; Instruments & Instrumentation |
语种 | 英语 |
WOS记录号 | WOS:000525271500063 |
资助机构 | Intelligent Production Line and System Apartment, Shenyang Institute of Automation, Chinese Academy of Sciences |
源URL | [http://ir.sia.cn/handle/173321/26442] ![]() |
专题 | 沈阳自动化研究所_装备制造技术研究室 |
通讯作者 | Wu HT(吴浩廷); Yin M(尹猛) |
作者单位 | 1.University of Chinese Academy of Sciences, Beijing 100049, China 2.Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China 3.School of Mechanical Engineering and Automation, Northeastern University, Shenyang 110169, China 4.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110169, China |
推荐引用方式 GB/T 7714 | Wu HT,Yin M,Xu ZG,et al. Transmission characteristics analysis and compensation control of double tendonsheath driven manipulator[J]. SENSORS,2020,20(5):1-17. |
APA | Wu HT,Yin M,Xu ZG,Zhao ZL,&Han W.(2020).Transmission characteristics analysis and compensation control of double tendonsheath driven manipulator.SENSORS,20(5),1-17. |
MLA | Wu HT,et al."Transmission characteristics analysis and compensation control of double tendonsheath driven manipulator".SENSORS 20.5(2020):1-17. |
入库方式: OAI收割
来源:沈阳自动化研究所
其他版本
除非特别说明,本系统中所有内容都受版权保护,并保留所有权利。