Kinematic Modeling and Motion Control of a Pneumatic Trunk-Type Continuum Robot

doi:10.7652/xjtuxb202108004

您当前的位置：

首页 >

文章列表页 >

Kinematic Modeling and Motion Control of a Pneumatic Trunk-Type Continuum Robot

更新时间：2025-07-09

- Kinematic Modeling and Motion Control of a Pneumatic Trunk-Type Continuum Robot
- Vol. 55, Issue 8, Pages: 25-32(2021)
- 作者机构：
  
  西安交通大学机械工程学院,西安,710049
- 作者简介：
- 基金信息：
- DOI：10.7652/xjtuxb202108004
  CLC： TH128
- Online First：10 August 2021，
  
  Published：2021
- 稿件说明：
移动端阅览
Kinematic Modeling and Motion Control of a Pneumatic Trunk-Type Continuum Robot[J]. 2021, 55(8): 25-32.
DOI：

Kinematic Modeling and Motion Control of a Pneumatic Trunk-Type Continuum Robot[J]. 2021, 55(8): 25-32. DOI： 10.7652/xjtuxb202108004.

摘要

为了解决连续体机器人运动学建模的难题并实现机器人的位姿控制

以自行研制的一种仿象鼻型气动连续体机器人为例

先忽略机器人自重和负载

做出连续体构节变形后其中心线上各部分曲率保持一致的假设

通过推导

得到了连续体构节变形参数(s、k、φ)与构节长度(l

、l

)之间的关系表达式。将连续体构节离散为关节变量

参考D-H法建立了该机器人的运动学模型

设计了机器人的气动系统并对机器人进行运动数据采集。将实际采集数据代入上述模型中来确定模型参数

在一定程度上弥补了因忽略机器人自重和负载而产生的模型误差

提高了运动控制精度。机器人的抓取实验结果表明:按实际采集数据确定参数的常曲率运动模型

可以应用于连续体机器人的位姿控制; 对比机器人末端的仿真计算轨迹和实际轨迹

得到最大运动误差为6.3 cm

误差主要来源于系统误差、模型误差和测量误差3个方面。研究工作对于同类型连续体机器人的实用化与位姿实时控制研究具有重要的参考价值。

Abstract

To realize kinematics modeling of continuum robot and realize its position control

under the assumptions that the self-weight and load are ignored and the curvature of each part on the center line of the continuum structure is consistent after deformation

a self-developed pneumatic trunk-type continuum robot is taken as an example and the relationship of deformation parameters(s

φ)with length of continuum nodes(l

)is obtained. The kinematic model of the robot is constructed by referring to D-H method after discretizing continuum components as joint variables. The robot pneumatic system is designed and its motion data are col

lected. The actually collected data are substituted into the above model to determine model parameters

which can offset the model error caused by ignoring the robot weight and load and improve the control precision to some extent. The grabbing experiments show that this constant curvature model with parameters determined by the collected data can be applied to control the continuum robot. Compared with the simulated trajectory with the actual trajectory of this robot actuator

the maximum motion error reaches 6.3 cm

and the deference mainly comes from three aspects: system error

model error and measurement error. The approach has reference significance for application and position control of this kind of continuum robot.

关键词

Keywords

references

陈宵燕, 张秋菊, 孙沂琳. 柔性臂机器人控制关键技术的研究进展 [J]. 机械设计与研究, 2015, 31(1): 22-26, 30.

CHEN Xiaoyan, ZHANG Qiuju, SUN Yilin. Research progress on the key control techniques of flexible manipulators [J]. Machine Design & Research, 2015, 31(1): 22-26, 30.

王红红, 杜敬利, 保宏. 肌腱驱动连续体/软体机器人控制策略 [J]. 机器人, 2020, 41(5): 1-15.

WANG Honghong, DU Jingli, BAO Hong. Control strategy of tendon driven continuum/soft robot [J]. Robot, 2020, 41(5): 1-15.

徐丰羽, 孟凡昌, 范保杰, 等. 软体机器人驱动、建模与应用研究综述 [J]. 南京邮电大学学报(自然科学版), 2019, 39(3): 64-75.

XU Fengyu, MENG Fanchang, FAN Baojie, et al. Review of driving methods, modeling and application in soft robots [J]. Journal of Nanjing University of Posts and Telecommunications(Natural Science Edition), 2019, 39(3): 64-75.

何斌, 王志鹏, 唐海峰. 软体机器人研究综述 [J]. 同济大学学报(自然科学版), 2014, 42(10): 1596-1603.

HE Bin, WANG Zhipeng, TANG Haifeng. Review of soft robot [J]. Journal of Tongji University(Natural Science), 2014, 42(10): 1596-1603.

TRIVEDI D, LOTFI A, RAHN C D. Geometrically exact models for soft robotic manipulators [J]. IEEE Transactions on Robotics, 2008, 24(4): 773-780.

BOYER F, POREZ M, KHALIL W. Macro-continuous computed torque algorithm for a three-dimensional eel-like robot [J]. IEEE Transactions on Robotics, 2006, 22(4): 763-775.

IVANESCU M, FLORESCU MC, POPESCU N, et al. Position and force control of the grasping function for a hyperredundant arm [C]∥IEEE International Conference on Robotics Automation. Piscataway, NJ, USA: IEEE, 2008: 2599-2604.

HAO S, CARDONA D C, SHANG W, et al. A MRI-guided concentric tube continuum robot with piezoelectric actuation: a feasibility study [C]∥IEEE International Conference on Robotics Automation. Piscataway, NJ, USA: IEEE, 2012: 1939-1945.

KOUNO K, ANDERSON C, HIROSE S. Development of active-joint active-wheel high traversability snake-like robot ACM-R4.2 [J]. Journal of Robotics and Mechatronics, 2013, 25(3): 559-566.

CHIRIKJIAN G S. Hyper-redundant manipulator dynamics: a continuum approximation [J]. Advanced Robotics, 1994, 9(3): 217-243.

MAHL T, HILDEBRANDT A, SAWODNY O. A variable curvature continuum kinematics for kinematic control of the bionic handling assistant [J]. IEEE Transactions on Robotics, 2014, 30(4): 935-949.

GRAZIOSO S, GIRONIMO G, SICILIANO B. From differential geometry of curves to helical kinematics of continuum robots using exponential mapping [EB/OL]. [2020-11-12]. https: ∥link.springer.com/chapter/10.1007/978-3-319-93188-3_37.

蒋国平, 孟凡昌, 申景金, 等. 软体机器人运动学与动力学建模综述 [J]. 南京邮电大学学报(自然科学版), 2018, 38(1): 20-26.

JIANG Guoping, MENG Fanchang, SHEN Jingjin, et al. Review on kinematics and dynamics modeling for soft robots [J]. Journal of Nanjing University of Posts and Telecommunications(Natural Science), 2018, 38(1): 20-26.

MELINGUI A, MERZOUKI R, MBEDE J B, et al. Neural networks based approach for inverse kinematic modeling of a compact bionic handling assistant trunk [C]∥2014 IEEE 23rd International Symposium on Industrial Electronics. Piscataway, NJ, USA: IEEE, 2014: 1239-1244.

REINHART R F, SHAREEF Z, STEIL J J. Hybrid analytical and data-driven modeling for feed-forward robot control [J]. Sensors, 2017, 17(2): 311.

TAN N, YU P, ZHANG X, et al. Model-free motion control of continuum robots based on a zeroing neurodynamic approach [J]. Neural Networks, 2020, 133: 21-31.

DELLA SANTINA C, BICCHI A, RUS D. On an improved state parametrization for soft robots with piecewise constant curvature and its use in model based con-trol [C]∥IEEE Robotics and Automation Letters. Piscataway, NJ, USA: IEEE, 2020: 1001-1008.

GARRIGA-CASANOVAS A, RODRIGUEZ Y, BAENA F. Kinematics of continuum robots with constant curvature bending and extension capabilities [J]. Journal of Mechanisms and Robotics, 2019, 11(1): 1-12.

ESCANDE C, PATHAK P M, MERZOUKI R, et al. Modelling of multisection bionic manipulator: application to RobotinoXT [C]∥IEEE International Conference on Robotics Biomimetics. Piscataway, NJ, USA: IEEE, 2011: 92-97.

ROLF M, STEIL J J. Constant curvature continuum kinematics as fast approximate model for the bionic handling assistant [C]∥IEEE/RSJ International Conference on Intelligent Robots and Systems. Piscataway, NJ, USA: IEEE, 2012: 3440-3446.

JONES B A, WALKER I D. Kinematics for multisection continuum robots [J]. IEEE Transactions on Robotics, 2006, 22(1): 43-55.

高国华, 郑玉航, 王皓. 双臂三自由度柔性连续体机器人的运动分析及实验研究 [J]. 北京工业大学学报, 2020, 46(5): 448-455.

GAO Guohua, ZHENG Yuhang, WANG Hao. Kinematic analysis and experimental study for dual-arm continuum robots with three-degree freedom [J]. Journal of Beijing University of Technology, 2020, 46(5): 448-455.

廖兵. 仿蛇缠绕软体爬杆机器人运动特性及应用研究 [D]. 四川绵阳: 西南科技大学, 2020: 33-35.

CORKE P. 机器人学、机器视觉与控制: MATLAB算法基础 [M]. 刘荣, 等译. 北京: 电子工业出版社, 2016: 154-156.

任树雄. 一种仿象鼻气动连续体机器人设计与控制研究 [D]. 西安: 西安交通大学, 2019: 14-15.

Views

下载量

CSCD

Alert me when the article has been cited

提交

Tools

Publicity Resources

Measurement Alignment Error Analysis for In-Plane Motion of a Precision Levitation Stage

Mechanism and Optimal Control Strategy for Hysteresis in Rapid Dehumidification Response of Indirect Thermal Systems in Electric Vehicles

I/O Performance Modeling and Prediction Method for Large-Scale Parallel Applications Using Machine Learning

Windage Loss and Flow Characteristics in Impeller Back Gaps of sCO2 Radial Inflow Turbines

Numerical Simulation of Heat-Moisture Barrier Performance of a Horizontal Air Curtain in Cold Storage

Related Author

伍宏亮

毛军红

Related Institution

Theory of Lubrication and Bearing Institute, Xi'an Jiaotong University

⁰