Abstract
Continuum robots have become a research focus because of their wide range of applications. However, because of the complexity of the mathematical models and the modeling inaccuracies of the continuum robot, the development of an effective control method is a particularly challenging task. This paper presents a proposed hybrid position/force control model of a continuum robot based on robotic and environmental compliance. For a continuum robot, first, by theoretical derivation, the forward kinematics and inverse kinematics between the driving space and task space are given directly. Moreover, a dynamics model of the continuum robot is established by the Lagrange method. Using the kinematics and dynamics models of the continuum robot described above, a new hybrid position/force control model for a continuum robot based on the compliance of the continuum robot and environment is proposed, to allow the end position of the continuum robot to be modified by the deformation of the continuum robot and environment. Moreover, the stability of the proposed hybrid position/force control model is analyzed by input–output stability theory. Finally, the experiments show that the proposed hybrid position/force control for the continuum robot is feasible.
Highlights
Continuum robots are a new type of bionic robot, inspired by octopus tentacles and elephant trunks
The main contribution of this paper is to propose a new hybrid position/force control model of the continuum robot based on the compliance of continuum robot and environment
A simplified dynamics model of the continuum robot was constructed by the Lagrange dynamics method
Summary
Continuum robots are a new type of bionic robot, inspired by octopus tentacles and elephant trunks. Compared with other compliant motion control systems, the proposed method combines the advantages of the impedance model for the environment and the hybrid position/force control for the continuum robot. Based on the aboveproposed kinematics and dynamics models, we propose a new hybrid position/force control model to allow the end of the continuum robot to maintain the desired position and contact force toward environment surface. To facilitate hybrid position/force control of the continuum robot, here, it is supposed that inertia and damping coefficient matrices of environment in (20) are ignored and equal to 0 matrix, and the stiffness coefficient matrix of environment is Kr in (20). It shows that the proposed hybrid position/force control model of the continuum robot is stable
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