A Model-Based Method for Predicting the Shapes of Planar Single-Segment Continuum Manipulators With Consideration of Friction and External Force | |
Li JH(李建华)1,2,3; Zhou YY(周圆圆)2,3; Wang CY(王重阳)2,3; Wang ZD(王志东)4; Liu H(刘浩)2,3 | |
刊名 | JOURNAL OF MECHANISMS AND ROBOTICS-TRANSACTIONS OF THE ASME |
2020 | |
卷号 | 12期号:4页码:1-11 |
关键词 | tendon-driven continuum manipulator shape prediction model-based external force friction hysteresis cable-driven mechanisms medical robotics |
ISSN号 | 1942-4302 |
产权排序 | 1 |
英文摘要 | The shape prediction of tendon-driven continuum manipulators is a challenging problem due to the effect of inner friction and external force. Many researchers use actuation displacement or actuation force as model input to predict the shapes of manipulators, but very few consider their relations and models able to predict the status of friction. This paper proposes a model-based method that combines the mechanics model with the kinematic model to predict the shapes of planar single-segment manipulators with consideration of external force and friction. Finally, the shape prediction of manipulators is converted to an optimization problem with actuation displacement and actuation force as the inputs of our algorithm. The distribution of tendon force and the situation of friction can be calculated by using the feedback data of the actuation unit even when actuation direction changes and hysteresis occurs. Experimental results indicate that the method has good performance in predicting the manipulator's shapes. |
语种 | 英语 |
WOS记录号 | WOS:000556700200005 |
资助机构 | National Key R&D Program of China [2017YFC0110902] ; National Natural Science Foundation of ChinaNational Natural Science Foundation of China (NSFC) [61873257] ; State Key Laboratory of Robotics Selfplan Project [2019000534] |
内容类型 | 期刊论文 |
源URL | [http://ir.sia.cn/handle/173321/27485] |
专题 | 沈阳自动化研究所_机器人学研究室 |
通讯作者 | Liu H(刘浩) |
作者单位 | 1.University of Chinese Academy of Science 2.State Key Laboratory of Robotics, Shenyang Institute of Automation, Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences 3.Key Laboratory of Minimally Invasive Surgical Robot, Liaoning Province 4.Department of Advanced Robotics, Chiba Institute of Technology, 2-17-1 Tsudanuma, Narashino, Chiba 275-0016, Japan |
推荐引用方式 GB/T 7714 | Li JH,Zhou YY,Wang CY,et al. A Model-Based Method for Predicting the Shapes of Planar Single-Segment Continuum Manipulators With Consideration of Friction and External Force[J]. JOURNAL OF MECHANISMS AND ROBOTICS-TRANSACTIONS OF THE ASME,2020,12(4):1-11. |
APA | Li JH,Zhou YY,Wang CY,Wang ZD,&Liu H.(2020).A Model-Based Method for Predicting the Shapes of Planar Single-Segment Continuum Manipulators With Consideration of Friction and External Force.JOURNAL OF MECHANISMS AND ROBOTICS-TRANSACTIONS OF THE ASME,12(4),1-11. |
MLA | Li JH,et al."A Model-Based Method for Predicting the Shapes of Planar Single-Segment Continuum Manipulators With Consideration of Friction and External Force".JOURNAL OF MECHANISMS AND ROBOTICS-TRANSACTIONS OF THE ASME 12.4(2020):1-11. |
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