Trajectory Tracking Control of a Novel Planner Continuum Robot

ADMT Journal

دوره 15، شماره 4، اسفند 2022، صفحه 1-12   

نوع مقاله: Original Article

شناسه دیجیتال (DOI): 10.30486/admt.2023.1959626.1353

نویسندگان

Seyed Shoja Amini¹؛ ali keymasi khalaji^{* 2}

¹Department of Mechanical Engineering, Iran University of Science and Technology, Tehran, Iran

²Department of Mechanical Engineering, Faculty of Engineering, University of Kharazmi, Tehran, Iran

چکیده

Researchers have a special fondness for continuum robots (CRs) due to their various applications. CRs have been modeled in different ways. One of these methods is called lumped model. Although the lumped modeling of CRs needs multiple degrees of freedom, researchers have considered only a few degrees of freedom. But considering such structures led to some issues in the accuracy of the controller. Therefore, in this paper, the dynamic modeling of a CR which is based on the lumped model is developed in a general form. Additionally, a control strategy based on sliding mode back-stepping control is proposed after introducing the first and second Lyapunov functions for stability proof. Moreover, a new function in the control law is used to avoid chattering phenomena. The proposed controller can reduce the settling time, which is one of the most important factors in controlling such robots. To demonstrate the efficiency of the proposed method, three different case studies are conducted for a planar 8-DOF continuum manipulator and the simulations are compared with the feedback linearization method (FL). The simulations show the effectiveness of the proposed method for controlling the continuum robot.

کلیدواژه‌ها

Feedback Linearization؛ Lagrange Formulation؛ Model-Based Control؛ Multi-DOF Continuum Robot؛ Redundancy؛ Sliding Mode Control

مراجع

• Hyatt, P., Johnson, C. C., and Killpack, M. D., Model Reference Predictive Adaptive Control for Large-Scale Soft Robots, Frontiers in Robotics and AI, 2020, 558027.
• Hsiao, J. H., Chang, J. Y., and Cheng, C. M., Soft Medical Robotics: Clinical and Biomedical Applications, Challenges, and Future Directions, Advanced Robotics, 33, No. 21, 2019, pp. 1099-1111.
• Yeshmukhametov, A., et al. Modeling and Validation of New Continuum Robot Backbone Design with Variable Stiffness Inspired from Elephant Trunk, IOP Conference Series: Materials Science and Engineering, Vol. 417, No. 1, 2018, 012010.
• Zheng, Z., et al., Dynamic Analysis of Elastic Projecting Robot Inspired by Chameleon Tongue, IEEE International Conference on Robotics and Biomimetics (ROBIO), 2018, Dec 12, pp. 2088-2094.
• Simaan, N., et al., Design and Integration of a Telerobotic System for Minimally Invasive Surgery of The Throat, The International Journal of Robotics Research, 28, No. 9, 2009, pp. 1134-1153.
• Da Veiga, T., et al., Challenges of Continuum Robots in Clinical Context: A Review, Progress in Biomedical Engineering, 2, No. 3, 2020, pp. 032003.
• Ahmad, M. A., et al., Deep Learning-Based Monocular Placental Pose Estimation: Towards Collaborative Robotics in Fetoscopy, International Journal of Computer Assisted Radiology and Surgery, 15, No. 9, 2020, pp. 1561-1571.
• Shi, C., et al., Shape Sensing Techniques for Continuum Robots in Minimally Invasive Surgery: A Survey. IEEE Transactions on Biomedical Engineering, 64, No. 8, 2016, pp. 1665-1678.
• Sarli, N., et al., Preliminary Porcine In Vivo Evaluation of A Telerobotic System for Transurethral Bladder Tumor Resection and Surveillance, Journal of Endourology, 32, No. 6, 2018, pp. 516-522.
• Webster, R., B. A. Jones, Design and Kinematic Modeling of Constant Curvature Continuum Robots: A review, The International Journal of Robotics Research, 29, No. 13, 2010, pp. 1661-1683.
• Gonthina, P. S., et al., Modeling Variable Curvature Parallel Continuum Robots Using Euler Curves, International Conference on Robotics and Automation (ICRA), 2019, May 20, pp. 1679-1685.
• Rone, W. S., Ben-Tzvi, P., Mechanics Modeling of Multisegment Rod-Driven Continuum Robots, Journal of Mechanisms and Robotics, 6, No. 4, 2014, pp. 041006.
• Kratchman, L. B., et al., Guiding Elastic Rods with A Robot-Manipulated Magnet for Medical Applications, IEEE Transactions on Robotics, 33, No. 1, 2016, pp. 227-233.
• Till, J., Aloi, V., and Rucker, C., Real-Time Dynamics of Soft and Continuum Robots Based on Cosserat Rod Models, The International Journal of Robotics Research, 38, No. 6, 2019, pp. 723-746.
• Sadati, S. H., et al., TMTDyn: A Matlab Package for Modeling and Control of Hybrid Rigid–Continuum Robots Based on Discretized Lumped Systems and Reduced-Order Models, The International Journal of Robotics Research, 40, No. 1, 2021, pp. 296-347.
• Mochiyama, H., Suzuki. T., Kinematics and Dynamics of a Cable-Like Hyper-Flexible Manipulator, IEEE International Conference on Robotics and Automation, Vol. 3, No. 03CH37422, 2003, pp. 3672-3677.
• Yoon, H. S., Yi. B. J., A 4-DOF Flexible Continuum Robot Using a Spring Backbone, International Conference on Mechatronics and Automation, 2009, Aug 9, pp. 1249-1254.
• Tatlicioglu, E., Walker, I. D., and Dawson, D. M., New Dynamic Models for Planar Extensible Continuum Robot Manipulators, IEEE/RSJ International Conference on Intelligent Robots and Systems, 2007, Oct 29, pp. 1485-1490.
• George Thuruthel, T., et al., Control Strategies for Soft Robotic Manipulators: A Survey, Soft Robotics, 5, No. 2, 2018, pp. 149-163.
• Falkenhahn, V., et al, Model-Based Feedforward Position Control of Constant Curvature Continuum Robots Using Feedback Linearization, IEEE International Conference on Robotics and Automation (ICRA), 2015, May 26, pp. 762-767.
• Marchese, A.D., Tedrake, R., and Rus, D., Dynamics and Trajectory Optimization for A Soft Spatial Fluidic Elastomer Manipulator, The International Journal of Robotics Research, Vol. 35, No.8, 2016, pp. 1000-1019.
• Chikhaoui, M.T., et al., Toward Motion Coordination Control and Design Optimization for Dual-Arm Concentric Tube Continuum Robots, IEEE Robotics and Automation Letters, Vol. 3, No. 3, 2018, pp. 1793-1800.
• Li, M., et al., Model-Free Control for Continuum Robots Based on An Adaptive Kalman Filter, IEEE/ASME Transactions on Mechatronics, 23, No. 1, 2017, pp. 286-297.
• Esfandiar, H., Daneshmand, S., Closed Loop Control of The Planar Flexible Manipulator via Youla-Kucera parameterization, Journal of Mechanical Science and Technology, Vol. 27, No. 11, 2013, pp. 3243-3252.
• . Esfandiar, H., Daneshmand, S., and Kermani, R. D., On the Control of a Single Flexible Arm Robot via Youla-Kucera Parameterization, Robotica, Vol. 34, No. 1, 2016, pp. 150-172.
• Giri, N., Walker, I. D., Three Module Lumped Element Model of a Continuum Arm Section, IEEE/RSJ International Conference on Intelligent Robots and Systems, 2011, Sep 25, pp. 4060-4065.
• Bai, K., et al., Sliding Mode Nonlinear Disturbance Observer-Based Adaptive Back-Stepping Control of a Humanoid Robotic Dual Manipulator, Robotica, Vol. 36, No. 11, 2018, pp. 1728-1742.