An Integrated Accuracy Enhancement Method for Cable-driven Flexible Continuum Robot
文献类型：会议论文
| 作者 | Shen, Wenjun; Yang, Guilin; Zheng, Tianjiang; Wang, Yi; Yang, Kaisheng; Fang, Zaojun; Zhang, Chi |
| 出版日期 | 2019 |
| 会议日期 | JUL 08-12, 2019 |
| 关键词 | SYSTEM |
| 英文摘要 | This paper focuses on an accuracy enhancement method for a cable-driven continuum robot with a flexible backbone by integrating a machine learning technique into the kinematic modeling. The continuum robot employs a segmented cable-driven scheme, which can be considered as a modular manipulator composed by a number of consecutive cable-driven segments. Based on the unique backbone structure which merely allows bending movements, a two-variable Product-of-Exponential (POE) formula is employed to formulate the kinematic model of the cable-driven continuum robot. However, such an analytic kinematic model is inaccurate due to the compliance of the backbone structure. In this paper, a machine learning approach based on the Gaussian Process Regression (GPR) is proposed to compensate the positioning errors resulting from the inaccurate kinematic model. Compared with other machine learning methods, GPR has the advantages of requiring less learning parameters and training points, which makes the learning process computationally efficient. In order to validate the effectiveness of the proposed method, computer simulations have been conducted. Simulation results indicate that the integrated approach can reduce the position error by 70.49% and the orientation error by 65.76%. |
| 会议录出版者 | IEEE ASME International Conference on Advanced Intelligent Mechatronics |
| 学科主题 | Engineering ; Robotics |
| ISSN号 | 2159-6255 |
| ISBN号 | 978-1-7281-2493-3 |
| 源URL | [http://ir.nimte.ac.cn/handle/174433/23304]  |
| 专题 | 会议专题 会议专题_会议论文 |
| 推荐引用方式 GB/T 7714 | Shen, Wenjun,Yang, Guilin,Zheng, Tianjiang,et al. An Integrated Accuracy Enhancement Method for Cable-driven Flexible Continuum Robot[C]. 见:. JUL 08-12, 2019. |
入库方式： OAI收割
来源：宁波材料技术与工程研究所
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