Dynamic Modeling for a Continuum Robot With Compliant Structure

2015 ◽  
Author(s):  
Yong Guo ◽  
Rongjie Kang ◽  
Lisha Chen ◽  
Jian Dai
Keyword(s):  
Continuum Robots ◽  
Modeling And Control ◽  
3 Dimensional ◽  
Compliant Structure ◽  
Continuum Robot ◽  
Mass Damper ◽  
Spring System ◽  
External Forces ◽  
And Control ◽  
Good Agreement

Continuum robots have attracted increasing focus in recent years due to their intrinsic compliance and safety. However, the modeling and control of such robots are complex in comparison with conventional rigid ones. This paper presents the design of a pneumatically actuated continuum robot. A 3-dimensional dynamic model is then developed by using the mass-damper-spring system based networks, in which elastic deformation, actuating forces and external forces are taken into account. The model is validated by experiments and shows good agreement with the robotic prototype.

Modeling and Control of Pantograph and Contact Wire for High Speed Train

2000 ◽  
Author(s):  
Marco Muenchhof ◽  
Timothy Hindle ◽  
Tarunraj Singh
Keyword(s):  
Control Strategy ◽  
High Speed ◽  
Control Strategies ◽  
Optimization Techniques ◽  
High Speed Train ◽  
Modeling And Control ◽  
Contact Wire ◽  
Closed Form Solutions ◽  
Mass Damper ◽  
And Control

Abstract The paper focuses on the modeling and control of a catenary-pantograph system. For the catenary system, only the contact wire is considered. Initially, the case of a constant force traveling at a constant velocity along the wire is investigated and closed form solutions are derived. Next, the pantograph dynamics are considered using a simple spring-mass-damper model, where the force is no longer assumed to be constant. The need for control in this case is apparent and motivates two different control strategies. The first control strategy utilizes a feed-forward Fourier series control profile. For the second control strategy, a proportional force feed-back control is added. All control parameters are obtained using constrained optimization techniques. Stability and sensitivity issues are addressed.

Design and control of a tendon-driven continuum robot

2017 ◽  
Vol 40 (11) ◽  
pp. 3263-3272 ◽  
Author(s):  
Minhan Li ◽  
Rongjie Kang ◽  
Shineng Geng ◽  
Emanuele Guglielmino
Keyword(s):  
Control Method ◽  
Programming Algorithm ◽  
Redundant Actuation ◽  
External Disturbances ◽  
Continuum Robots ◽  
Helical Springs ◽  
Actuation System ◽  
Continuum Robot ◽  
And Control ◽  
The Continuum

Continuum robots are suitable for operating in unstructured environments owing to their intrinsic compliance. This paper presents a novel tendon-driven continuum robot equipped with two modules and a compliant backbone formed by helical springs. Each module is driven by four parallel arranged tendons to implement a redundant actuation system that guarantees dexterous motions of the robot. A position feedback controller for the continuum robot is then developed, and a quadratic programming algorithm is incorporated into the controller to achieve a smooth configuration of the robot. Experiments results show that the control method has good trajectory tracking performance against external disturbances.

Model Validation of an Octopus Inspired Continuum Robotic Arm for Use in Underwater Environments

2013 ◽  
Vol 5 (2) ◽  
Author(s):  
Tianjiang Zheng ◽  
David T. Branson ◽  
Emanuele Guglielmino ◽  
Rongjie Kang ◽  
Gustavo A. Medrano Cerda ◽  
...  
Keyword(s):  
Dynamic Model ◽  
Model Validation ◽  
Degrees Of Freedom ◽  
Robotic Arm ◽  
Octopus Vulgaris ◽  
Light Weight ◽  
Continuum Robots ◽  
Continuum Structure ◽  
External Forces ◽  
Good Agreement

Octopuses are an example of dexterous animals found in nature. Their arms are flexible, can vary in stiffness, grasp objects, apply high forces with respect to their relatively light weight, and bend in all directions. Robotic structures inspired by octopus arms have to undertake the challenges of a high number of degrees of freedom (DOF), coupled with highly flexible continuum structure. This paper presents a kinematic and dynamic model for underwater continuum robots inspired by Octopus vulgaris. Mass, damping, stiffness, and external forces such as gravity, buoyancy, and hydrodynamic forces are considered in the dynamic model. A continuum arm prototype was built utilizing longitudinal and radial actuators, and comparisons between the simulated and experimental results show good agreement.

A New Constitutive Modeling and Control Paradigm for Piezoelectrically-Actuated Nanostagers

2006 ◽  
Author(s):  
Saeid Bashash ◽  
Nader Jalili
Keyword(s):  
Piezoelectric Materials ◽  
Input Voltage ◽  
Memory Allocation ◽  
Mapping Technique ◽  
Modeling And Control ◽  
3 Dimensional ◽  
Hysteresis Nonlinearity ◽  
Improved Performance ◽  
Precise Representation ◽  
And Control

Over the decades, ultra-fine positioning through piezoelectric actuators has demonstrated limited performance due to the existence of complex, multi-path hysteresis nonlinearity in response to an applied input voltage. However, the complete underlying memory-dominant nature of hysteresis in piezoelectric materials has been recently disclosed. In this paper, the memory-based hysteresis properties are introduced and described in detail as a set of constitutive rules. Utilizing a mathematical mapping technique, a modeling and control framework is then developed for the precise representation and compensation of hysteresis nonlinearity. The model is experimentally validated for a piezoelectrically-driven nanostager equipped with sub-nanometer resolution capacitive position sensor. To investigate the performance of the model in the event of memory saturation, two strategies namely; "open" and "closed" memory-allocation structures are introduced. It is shown that the closed memory-allocation structure demonstrates an improved performance over the open structure. Using the inverse of the hysteresis model, a feedforward inverse model-based controller is then developed and successfully implemented on a 3-dimensional nanostager for surface topography tracking, typically encountered in scanning probe microscopy applications.

scholarly journals Modeling and Control of Aerial Continuum Manipulation Systems: A Flying Continuum Robot Paradigm

IEEE Access ◽  
2020 ◽  
Vol 8 ◽  
pp. 176883-176894
Author(s):  
Zahra Samadikhoshkho ◽  
Shahab Ghorbani ◽  
Farrokh Janabi-Sharifi
Keyword(s):  
Modeling And Control ◽  
Continuum Robot ◽  
And Control

scholarly journals An Integrated Kinematic Modeling and Experimental Approach for an Active Endoscope

2021 ◽  
Vol 8 ◽  
Author(s):  
Andrew Isbister ◽  
Nicola Y. Bailey ◽  
Ioannis Georgilas
Keyword(s):  
Numerical Technique ◽  
Hybrid Approach ◽  
Theoretical Method ◽  
Computational Time ◽  
Accurate Estimation ◽  
Kinematic Modeling ◽  
Continuum Robots ◽  
Loop Control ◽  
Modeling And Control ◽  
Continuum Robot

Continuum robots are a type of robotic device that are characterized by their flexibility and dexterity, thus making them ideal for an active endoscope. Instead of articulated joints they have flexible backbones that can be manipulated remotely, usually through tendons secured onto structures attached to the backbone. This structure makes them lightweight and ideal to be miniaturized for endoscopic applications. However, their flexibility poses technical challenges in the modeling and control of these devices, especially when closed-loop control is needed, as is the case in medical applications. There are two main approaches in the modeling of continuum robots, the first is to theoretically model the behavior of the backbone and the interaction with the tendons, while the second is to collect experimental observations and retrospectively apply a model that can approximate their apparent behavior. Both approaches are affected by the complexity of continuum robots through either model accuracy/computational time (theoretical method) or missing complex system interactions and lacking expandability (experimental method). In this work, theoretical and experimental descriptions of an endoscopic continuum robot are merged. A simplified yet representative mathematical model of a continuum robot is developed, in which the backbone model is based on Cosserat rod theory and is coupled to the tendon tensions. A robust numerical technique is formulated that has low computational costs. A bespoke experimental facility with precise automated motion of the backbone via the precise control of tendon tension, leads to a robust and detailed description of the system behavior provided through a contactless sensor. The resulting facility achieves a real-world mean positioning error of 3.95% of the backbone length for the examined range of tendon tensions which performs favourably to existing approaches. Moreover, it incorporates hysteresis behavior that could not be predicted by the theoretical modeling alone, reinforcing the benefits of the hybrid approach. The proposed workflow is theoretically grounded and experimentally validated allowing precise prediction of the continuum robot behavior, adhering to realistic observations. Based on this accurate estimation and the fact it is geometrically agnostic enables the proposed model to be scaled for various robotic endoscopes.

scholarly journals Coupled Dynamic Modeling and Control of Aerial Continuum Manipulation Systems

2021 ◽  
Vol 11 (19) ◽  
pp. 9108
Author(s):  
Zahra Samadikhoshkho ◽  
Shahab Ghorbani ◽  
Farrokh Janabi-Sharifi
Keyword(s):  
Dynamic Modeling ◽  
Sliding Mode ◽  
Control Technique ◽  
Adaptive Sliding Mode Control ◽  
Modeling And Control ◽  
Practical Applications ◽  
Lagrange Formulation ◽  
Continuum Robot ◽  
Aerial Vehicle ◽  
And Control

Aerial continuum manipulation systems (ACMSs) were newly introduced by integrating a continuum robot (CR) into an aerial vehicle to address a few issues of conventional aerial manipulation systems such as safety, dexterity, flexibility and compatibility with objects. Despite the earlier work on decoupled dynamic modeling of ACMSs, their coupled dynamic modeling still remains intact. Nonlinearity and complexity of CR modeling make it difficult to design a coupled ACMS model suitable for practical applications. This paper presents a coupled dynamic modeling for ACMSs based on the Euler–Lagrange formulation to deal with CR and the aerial vehicle as a unified system. For this purpose, a general vertical take-off and landing vehicle equipped with a tendon-driven continuum arm is considered to increase the dexterity and compliance of interactions with the environment. The presented model is independent of the motor’s configuration and tilt angles and can be applied to model any under/fully actuated ACMS. The modeling approach is complemented with a Lyapunov-wise stable adaptive sliding mode control technique to demonstrate the validity of the proposed method for such a complex system. Simulation results in free flight motion scenarios are reported to verify the effectiveness of the proposed modeling and control techniques.

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